2004 Nissan Altima Rear Rotor Replacement Needed?

If the rotors are not gouged or warped, just turn them to remove the "glaze". You should be OK. Just re-measure the thickness after the the machining.

Hello,

It is recommended to resurface the rotors when changing the pads (if they are within specification).
When measuring a rotor be sure to check few low spots to and use the lowest reading. As long it can be resurfaced and stay above the minimum thickness, it will function properly.

https://www.2carpros.com/articles/how-to-replace-rear-brake-pads-and-rotors

I have attached the brake replacement procedure below.
Please let me know of any questions.
Thank you.