Talk to a decent mechanic. Opinions on this board area ll over the place. (including this one)
Hell no you don't need new rotors, UNLESS after they are turned, they no longer meet the minimum thickness spec that Toyota provides.
Turning rotors is an industry standard practice when replacing the pads. It's done tens of thousands of times a day across the country.
If it was unsafe the industry would recommend against it as a whole.
You don't even need to turn the rotors after you replace the pads if you don't want to. However this practice is not recommended as a whole. You won't find too many shops that will do this, because well it's just not as good a practice. I know lots of DIY people that do this myself included for my personal vehicle because I understand the risks. I wouldn't recommend this for anyone else, wife, loved ones, etc. But that's just me.