I have 2015 Prius (the fourth for us). I just took it in the the dealer for servicing and free inspection. they said I need new brake pads and rotors. In March they did all point inspection which should include the brakes and they said nothing about the brakes. We asked if they could just replace the pads. We have owned the car for less than a year. Came with a warranty. They sadi they could only replace both. We drove the first Prius 2005 for 174,000 miles without replacing rotors. We have about (97,000 miles on the car now. We bought it with 89,000 miles. In March when it had the mulyipoint inspection it had 91,000. Are we being ripped off? Both of us are seniors and are not aggressive drivers, nor do we ride the brakes.
Look if you look at the rotors through the wheel cutouts and they seem to be smooth as a baby's butt You can run your fingernail or a screwdriver across the rotor without it stopping or going ding ding ding ding If that's the case then you can probably get away with just changing out your pads usually rotors are so cheap now like $27 a pop I just put on rotor plates pads because then everything is touching new surfaces to some people that may matter to some may not. If the $50 in the two rotors is really a game changer for you then that's that.
You probably don't need either at 97k miles. The key word here is dealer and I assume you're female? And they are lying, pads can be changed without changing rotors, it's done all the time. My advice is go elsewhere to have your car serviced. My 2015 has 94k and I recently replaced a front left wheel bearing (did it myself) and the pad on that side looked basically new, hardly worn at all.
If it comes with a warranty, and they only have to replace rotors and pads, they are paying for it, the warranty. But you could contact the warranty company and tell them you believe they are not being honest about the rotors. If you are paying for it, you probably only need the pads, which you can do yourself, and also replace the rotors yourself also.