In my 2003XLT I've been through a lot of brake parts. How you maintain the vehicle is a personal preference but I would not replace the calipers in pairs & have not in practice done that.
I would get a cheap infrared heat gun and measure the rotor / caliper temps after a drive with braking used. Both sides should be close in temp to each other. If one side is hotter than other then something is sticking and yes it could be the caliper hanging up because its bad (piston) or because of the pins sticking (not allowing caliper to slide) or a pad sticking (hanging up on something, I always file pads down around perimeter to make sure they side easily in tracks) or something else? I think it could even be the flexible hose collapsed inside not allowing the caliper to release. If that was the case it would (probably) pull to one side when braking.
So I would do a little diagnosis first then act on that. If you can clean the pins and grease them and it fixes the problem then go ahead and replace the brake pads in pairs (both left and right wheel). I've never heard of replacing pins but apparently thats a thing too, didn't know.
There are 4 pads there ... whats the wear on all 4?
Is one side wearing too much or is the other side wearing too little?
(how many miles on those pads?)
Maybe you could have a situation where you replace the caliper with the extra wear on the pad thinking its bad and its really the other caliper thats bad or maybe neither caliper is bad?
I'm NOT a brake expert ... but these are some thoughts. Don't just throw parts at it, diagnose it and determine what the problem is and go down that route.
My $0.02. Does this make sense?