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Nothing wrong with turning rotors. But, with the cost of new rotors these days, not worth it. Just get new rotors, pads, from your local autopart store and find an independent mech to install the parts. The mech should also do a complete brake bleed. And, if anything else needs replacing, address it then. Dust boots... might need replacing. Pins need greasing... Anti-rattle clips need replacing. Tension/retaining springs often lost and not reinstalled....
Most autopart stores have a quiet pad that should work well. Many newer pads come with preinstalled shims.
Sounds to me that the dealer tech took some shortcuts and now you're enjoying the end result.
Try re-bedding your ol' brakes by follow any of the online brake bedding processes.