If they are fairly smooth as you feel them, and not bluing, I'd use them as is. I used to have all rotors turned, that's ideal. But unless you have issues of pulsating pedal, pulling etc, then it's not really a big deal.
I'm delivering mail full time with my 98 Explorer, with OEM pads and a decent rotor from Rock Auto. I have no warping or excessive coloring of rotors, pulsating pedal etc. I do buy a new rotor when I perceive the age is enough to put them close to worn so much turning would make them too thin. But I'm an extreme case, and I am harder on brakes personally than most people. If the parts can survive me, they are pretty good. This is my "good" SUV not intended for mail use, eventually I'll stop using it for work. My old custom brakes are going on my 99 Explorer, my intended work truck. Then I'll remake the custom brackets for bigger calipers, for my 98 truck, and likely the 99 too.
Long story short, I know brakes for the 2nd gen Explorers well. You seem to be easy on brakes, I'd just take care of the fluid and buy new best OEM pads you can find. Have the rotors turned if you can have it done promptly at a store etc, and buy a pint or more of DOT 4 brake fluid to bleed through the system, all four corners.