I would… I had close to 80k when I got the message. Did all 4 wheels, new pads, new sensors and rotors turned.
A good and reputable mechanic should be able to replace the pads on all 4 wheels, install new brake wear sensors and turn all 4 rotors for approx $350.
it is regular maintenance… do it before you get even close to metal on metal contact with the rotors, because then the price goes up.
check the wear of the pads on the inside as well as the outside of the rotors. Both sides do not wear evenly.