TBH the price of most discs it’s not even worth 2 hours with an angry grinder, but some cars are pricey. For them a cup brush on the grinder will do the trick nicely.
However you’ll be surprised what will pass easily, so long as there are not deep scores.
Don’t be tempted to use the pads to scrape it off unless it’s just a surface dusting – it embeds rust in the pads which then rip your rotors to pieces over the next few months.
A small hijack my car just passed MOT but got an advisory about pad thickness should I be changing discs and pads or just pads and how to tell if rotor knackered?
Pad thickness fails at 1.5mm, so I guess you’re around 2mm. Has no bearing on disc thickness, but I’d change them if they’re deeply scored or have large areas of corrosion not braking properly, otherwise no issue. Simple answer is measure the disc thickness taking care to remember there’s a lip on the outside of the rotor due to wear normally.