The only way to know for sure is to measure the rotor and see how its actual dimensions compare to the minimum allowable thickness.

That being said, it has been my experience that the life of rotors is usually 2 sets of pads. So, if they are thick enough and flat, no there is no need to replace them.

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Ali Al-Chalabi

2001 CLK55
1999 Dodge Ram 2500 Cummins Diesel
2002 Harley-Davidson Fatboy
Merlin Extralight w/ Campy Record