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If you can feel a groove in the rotor then it may cause noise and/or some vibration/pulsation when braking. It also possible that the groove will only cause some uneven pad wear without any braking performance issues.
I would personally swap out the rotor on my RX, but it may be unnecessary to do so if you do not notice any negative braking effects due to the minimum damage.
When I put vented rear rotors on my 2008 RX350, I forgot to space the caliper out by 2.5mm and caused a very similar mark in the rotor. 8 months later, and it is very close to being gone and is wearing normally, you can barely feel it with your finger now. My opinion: Send 'er! It should be okay. There was never any noise or vibration from this
Those rotors look fine to me. Over time, the pads will wear them in again. My Rotors look a lot worse (been on the car for over 6o,ooo miles and I plan to change them soon.
