Sometimes the bolts on the back of the calipers are a beast to get off, though not so sure about the FL units.
If you're just doing pads, then it should be OK, but disks usually need the calipers removed too.
Calipers I'd leave until they cause a problem. Mine are still fine after 11 years and 145k miles with the exception of a stuck handbrake actuator on one a couple of weeks ago (45 quid from a8parts).
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2010 Jag XF 3.0D Portfolio S
I know.. I know..
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