Take a look at your rotors - rub your finger from the outer lip, across the surface toward the middle. Two things you’re really looking for here;

• is there a noticeable deep lip on the rim of rotor? This could be indicative of a worn down rotor and consider replacement
• while running fingers across surfaces - is it smooth or do you feel waves? If it feels wavy, indication of needing replacement.

Another thing you can try, kinda inconclusive IMO - but go for a drive and try steadily applying the brakes. If you feel a pulsing, jagged feeling, something not smooth - could be a sign of rotors being warped/worn.

Look up some YT and you should be able to do a second opinion inspection yourself with a fair degree of confidence.