is it safe to drive? or do i need to replace asap?
If you hear heavy scraping I say get it replaced sooner than later. Again you have 4 tires each with a set of pads and a rotor.
It's fine. But i wouldn't take it on a long 10 hr drive with the brakes like that.
Just call a guy down or bring to a shop for new pads and rotors.
It's an easy job if you're handy.
But you will need a few tools to get it done..
From copper andy seize, silicone, thread locker, wrench, breaker bar, penetrating oil. Torque wrench. Pads, rotors, flat head screwdriver.. jack jack stands.. and some 1-2 hours to kill. Lol
Or pay someone to do it for you.