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Ask A Realtor: Replacing Carpet Before Selling Our Home

My husband and I have decided that we are likely going to sell our house in the next year and a half. We have four kids and three pets and the same carpet that came with our house when it was built 16 or so years ago. As you can imagine, it is pretty awful at this point, even right after we get it cleaned. Do we replace the carpet now (so we can enjoy it), when we go to sell the house (so that it stays relatively clean), or do we not bother?