Has a grinding sound sometimes should I get the brakes and rotors replacement

If you ever have a question about the status of your brakes, you should always have them checked. The fact that the grinding noise is intermittent could indicate another problem (failing Brake Caliper) or could simply be a small rock caught in your brakes (seen it). Also having an intermittent ABS could be another problem yet (Wheel Bearings worn?) As far as I am aware, your Brakes will not trip your 'Maintenance' Indicator. Most vehicle have a light just for Brakes, but none are a perfect system if there are other problems going on. Yes, I would recommend you have your Brakes checked out.