Truthfully you should check them for every mot, it is so simpl E to take the rear disc off and get a nice visual inspection, less that 15 minutes a side if you stop for a cuppa.
Plus good excuse to double check hand brake plates and tighten them up as needed. Also it's a handy way of checking brake pipes and all properly. Even asking your garage to do it for mot will take a car in a ramp less than 5 mins to pull whole lot off and check.
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