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If your brake fluid is black you will get a noticible improvement in your braking performance. Once the fluid boils or gets dirty it does not retain its normal behavior during operation.
DOT3 and DOT4 are compatible. I would replace it with what the vehicle calls for- I use Prestone Synthetic DOT3. I don't know why a rotor manufacturer would have any say in what fluid you use.
DOT5 is silicon-based and it is not compatible with DOT3 or DOT4.
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