The rear brake pads on my 2007 Yukon Denali are worn and due to be replaced. The rotors look very good and I would like to know if I have to replace them as well.
Frankly I think I already know what the answer is going to be.
I’ve done plenty of rear brake jobs where I replaced the shoes and not the drums. You should be fine doing the same, just be careful at first until the shoes conform to the shape of the drums, because they might not have a clean flat surface anymore.
It depends…you can use a tickness gauge and evaluate if they are still within specs after machining.If not within specs, you will need a new set of rotors.
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I know people that do their own work, and replace just the pads if the rotors are still good, they do not even turn the rotors. I can’t say it is wrong, nor can I say it is right.
I don’t do brakes, and have always received new rotors and pads as part of a brake job.
OP’s 2007 Yukon has rear brake rotors, not drums
Use a brake mike to determine the thickness of the rotor
If it’s above minimum thickness, just pad slap it and be on your way
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Well, I took a closer look at the rotors and one of them is in pretty bad shape. Looks like I’m going to have replace them. 
Thanks for the input, though.