There are a number of riders on this forum that have over 200k miles on their bikes. If none of them replaced their rotors then that is useful information.
I have 62k miles on my ST1300 and just put on my fourth set of brake pads. So I got ~20K miles per set of OEM pads. The thicker rear brake pad wears out first, the fronts had about 30% of pads left but I just replace them all each time. From what I have read here the front rotors are 5mm thick and the rear rotor is 7mm thick. They should be replaced when they loose 1.0mm (at 4mm and 6mm respectively). Using a metric micrometer my front rotors have lost 0.18mm and the rear has lost 0.40mm. A little math means that I should have to replace my front rotors at 344k miles or after 17 sets of front brake pads and the rear rotor at 155k miles or after 8 sets of rear brake pads.
In retrospect, I now realize that, since I have linked brakes, I always used just the brake pedal and rarely use the front lever. This may be why my rear rotor and pads are wearing faster. Going forward I will now try to use both brakes evenly, had I done so I could have gotten an estimated 250k or 12 sets of brake pads per rotor. Averaging now will yield less.
Now I commute every day 72 miles round trip. About 1/3 the time is city stop and go driving / lane splitting. So I maybe harder on my brakes than someone who just goes on long non-stop trips but maybe less hard than one who is peg scraping on a tail of a dragon all the time.