Is it worth replacing the rotors or just doing a pad slap?
I keep seeing people misuse the term "pad slap". A pad slap is a derogatory term where the brake technician didn't clean, derust, lube, nothing, just slapped new pads on in place of the old. That "pad slap" is never the right option, and has nothing to do with whether you replace the rotors due to them needing it or not. It's just a term for the mechanic doing the bare minimum possible to put "new brakes" on, to minimize time and maximize profit.
If your stock braking system is in good condition, good working order, it isn't supposed to chirp the tires. Automakers spent years researching minimal tire traction loss for ABS to work most effectively and a chirp is a failure for that to work as well as it could.
Maybe you drive agressively or haul loads down long mountain roads, then you might need a brake upgrade. I don't see any mention of that.
Replace the rotors if they are worn down too low or unevenly worn. If you do have a very demanding driving scenario and are potentially overheating the brakes, then it may be time to flush the brake fluid as well.
Without an extreme situation, your stock brake system in good working order does not need changed, certainly not for sane driving then a random emergency stop. If you pay loads of money trying to do it then abs kicks in anyway, you have not gained anything. Better tire traction to keep the wheels moving while the braking system absorbs that energy is the way to go if it's just for emergency stops, unless, again, if your brakes have some problem that could be fixed with stock/equivalent parts, or just some derusting and lube depending on what the situation is.