My G20 had over 100K miles when I changed pads. I did NOTHING for the rotors. I beat the hell out of the car through the Ozark mountains on the way home to break things in. Stopping distances were terrible because the rotors were grooved and the pads made very irregular contact. However, after 100 miles or so of flogging it through the mountains...it worked great! I sold it at 130k miles or something and it was still working great! No shimmy, judder, nothing.
I've done the same on cars I've had in the past with the same results. When the car gets old enough for me that I will trade it off soon, I start to question the expenses and look to save money.