Before you run out and just buy rotors, their are a few checks you can do. First is your tire pressures and tire condition. Check all your Calipers are free and not seized, so all pistons and the sliding pins/bolts(mine where seized on the rear) move without great force, check your mating surfaces and clean between your wheel and rotor and your rotor and hub, you can do a run out check then on your rotors with a dial guage(make sure you put the wheel nuts on to secure the rotors). Remove the pads and look for any uneven or abnormal wear, check your Bell cranks are free and condition of your E Brake shoes/cable. Also on the rear check the condition of your lower and upper control arms. Check for movement in wheel bearings.
It does seem like a bit of work, but it gets you list of what will or won’t be needed when or if you are going to replace anything. It is more important on the rear as you have your E Brake. I speak a bit from experience with this as I lazily bought pads and rotors for the rear and when I went to install them I found extra issues which meant I had to put it all back together and wait for the extra parts to arrive.
Another thing I found out after I bought my pads and rotors is that Toyota sell a cheap version and a expensive version, at the time I didn’t know this and wasn’t informed. I only found this out when I bought front rotors for my corolla, they said they had no stock and will need to be ordered in, when I said I couldn’t wait for a delivery they said they had stock of the expensive version which I purchased with a 50% discount. I can’t say there is any better performance or longevity but the quality looked far superior to the land Cruisers I purchased. I wouldn’t tell you what to buy it is just so you are aware and can make a informed decision.
By the way, Toyota’s cheap version was cheaper than most or all aftermarket brands so don’t always think the dealer is more expensive.
I always change out some brake fluid with a pad change, I normally put half a litre down each line that I have change my pads on. This is outside my normal brake fluid change interval, it is a bit OCD but I had brake fade once in a car and once was enough to see how important good brake fluid is as it scared the s**t out of me.