I'm on the original front rotors at 400kmi on my 1977 300D. I use Pagid soft pads, commute gently on highways, brake gently, and have driven this car for ~305kmi. There's essentially no lip on the rotors, but when it comes time to renew the rotors, the new ones are so cheap and easy to install that it's foolish money to machine them. Actually, I have an almost new pair of rotors in the garage attic from a wreck I bought for the engine. Pads are cheap and easy to replace. I've got the wheel covers so brake dust is not a big issue.

'77 300D 404kmi
'95 C220 190kmi
'83 Dodge B150 336kmi
'72 Norton Interstate 169kmi