Has anyone had any luck having the factory rotors turned? ( I know the dealership doesn't recommend it)

I am going to be changing my pads soon, mainly because of the brake dust. The car has never had a brake job and I'm currently at 20,000 miles, so I'd imagine the rotors have plenty of thickness. But they have developed a small lip/groove towards the outside of the rotor. Can I replace just the pads without worrying about this slight grooving? Or will it cause vibrations under braking?