The caps are required if you want the ESC to last. They do wear out with use. You should replace them with the same cap specs as it had from the factory unless you want to read the huge - and very useful - ultimate cap thread. The caps have to have a higher voltage than what you will use, and at least the same capacitance as the originals. Plus, caps have polarity so solder them on the right way, otherwise you'll hear a loud pop the first time you plug it in......
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