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That's a lot of miles on one set of rotors. So yes, they likely need to be replaced.
But the only way to tell for certain is to use a micrometer on the rotor. $10-$20 will buy one with standard (0.0001" on the vernier) accuracy, which is 10x or 100x better than what you need for brake work.
Select a model with squared inside corners, rather than a semi-circular frame. Harbor Freight has a $20 version with a mechanical counter that avoids errors reading the scale. They used to carry a $10 one that was good enough.
Note that most digital calipers or dial calipers won't work for this job -- they have flat measuring jaws. There are ones designed for brake work have pincers to get over the unworn ridge on the rim, but they cost more. If you do get a digital one, make certain that it has a "hold" button because one side always puts the display upside-down.
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