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after changing the pads, no you don't REALLY need to bleed them unless it feels spongy. A word to the wise you need to have the key on to activate the ABS pump to bleed the rear brakes.
it's good to bleed brakes maybe every 30k miles or so. over time the fluid will get old and moisture will get in, eventually bubble start to accumulate. good to flush them out once in a while
Anytime I do pads install, I always bleed the brakes. Its a habit of mine. I usually have to let out some fluid to pushin the caliper's piston anyways.
The times I worked alongside my father when changing pads, he's always bled the brakes to help eliminate the spongy feeling when the brake pedal is pushed.