booker

Question: Should I change the rear rotor when I replace the rear brake pads?

Dead

If you can ,yes.If you don't want to spend the $$ ,check to see if it needs it.

booker

Can you tell me what to look for (i.e., visual inspection)?

Hokie_Audi

Rotors will outlast pads, unless you run the pads down and grind the rotors to death with the calipers. Also remember that the front brakes do about 80% of the stopping effort, so the rotors and pads in the front will see a much higher duty than the rears will.

booker

34,000 miles
there is a very thin border on the outer edge of the rotor

Hokie_Audi

Rears should be fine then...