If they’re smooth and not pulsing, grab a micrometer and measure their thickness. If it’s within spec, just swap the pads and run them.
I have Centric cryogenic-dipped slotted rotors and I did just a pad swap last summer. I was running HD pads before but switched to ceramic because the HD pads were noisy (groaning) around town and on trails and I got tired of being “that guy”. Braking performance has been fine after just the pad swap, and even towing through the mountains of TN in March I’ve not had any issues with heat dissipation or brake fade. YMMV of course.
I’ll likely swap rotors next time even if they are writhing spec (which they probably won’t be)