Calipers and Rotors do not have to be removed to tell that the Rotors are Warped. 😂 My Philosophy is if you brake so hard that you are warping your Rotors do not resurface, replace. Resurfacing rotors will remove metal making them weaker, more likely to warpage. Replace both front rotors for sure, and pads. Good Pads. Rear rotors are probably ok. Pull rear wheel, turn hub and watch and see if rotor moves back and forth to front and back brake pads. If rotors are loose on hub put a few Lug nuts to keep rotor in place. If warped replace.
I pull a 10,000 LB, RV all over the country, to Cripple Creek, Colorado, at about 10,000 feet. Sedona, Zion National Park, Yellow Stone, Michigan, and more. I have 55K and have over 75% left on my brakes. Overheating of the rotors is what makes the rotors warp.
Good luck and be safe