At least check them with a dial gauge or something first.

New rotors may not be the whole story either.
I had the same problem on an earlier model year.
Couple of weeks ago, driving at low speed, felt like the street surface
had little roller coasters in it -- turns out my brakes were locking
up.
Dealer diagnosed the problem as the calipers and quoted - sorry I
forgot, but I remember just for convenience sake was willing to pay
$350 and it was around $150 over that. Wound up getting online price
matching at $59.90 ea. for calipers, and since I'd been planning to
replace pads and rotors (had been told the only way to eliminate the
vibration - only under hard braking from high speed, was to replace
both pads and rotors).
Went ahead and also purchased the Toyota "shim" and "fit" kits, which
include all the associated hardware for the pads.
Here's the point I'm trying to get to --- you also need to replace the
slide pins and dust covers. Slide pins were around $5.94 and dust
covers under $2. With air tools it only took a few seconds to remove
the torque plate, you might be able to leave it on.
I used all fully synthetic grease on shims and slide pins - cost around
$6.95 for a tube.
The old slide pins were really kind of jammed in the bores - needed to
twist and pull with pliers to get them out.
The prior owner had receipts for "new brakes" at the dealer shortly
before I purchased.
When I mentioned I'd noticed uneven brake pad wear to the dealer
mechanic, he said "they all do that."
Those slide pins equalize the braking force between sides. I cleaned
the bores in the torque plate with solvent and applied new grease to
the new slide pins.
Now they operate smoothly and the brakes work better than ever.
I used all Toyota parts.

I installed Raybestos PG Plus brand rotors and pads(ceramic) on my
front brakes (2000 Camry v6).  I also replaced the "pad support plates"
with Beck Arnley brand.  So far no problems.  Everything seemed to fit
great and they are quite.  Haven't noticed much dusting either.

I used CRC brand synthetic caliper grease.  One small tube of grease
was enough for both sides.

RickC