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The biggest reason rotors warp is failing to use a torque wrench when attaching the wheels. All it takes is once. I suppose if you were tracking the vehicle and then ran it through some deep water, the thermal shock might do something, but that would be a rarer situation for most people. Some people do left foot braking, and actually end up with that foot on the pedal, and that can heat up the rotors significantly. Everyone I know that says they don't rest the brake, if I follow them, their brake lights tend to be on/off a lot...they'd know if they were using their cruise control, as it would drop out each time.
If the rotors remain above the minimum, certainly, you can resurface them. Depends on how close to the minimum they end up when you're done whether it's cost effective or not.
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