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You found the solution! Those threaded holes in the rotors are to use with a couple bolts. Screw the bolts into the threaded holes, and they will bottom out against the hub behind the rotor. Turn each bolt about a half-turn, alternating between bolts, and after several turns, the rotor will release from the hub (probably rust holding it on). Then pull the rotor off and remove the bolts. Toyota did a nice job with this simple design. Many other US manufacturers haven't figured this simple one out yet.
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