Newbie question:
I was not able to find any forums regarding the camshafts. I had 2 rocker arms fail #4 exhaust (all though most of the rollers have a lot of play).
One of the rockers scored the cams. Still has the shape but is rough to the touch.

Does someone have experience with this? Would I need new bearings, special tools, etc?

Should I get 2 new cams with the new rockers or find a used one to replace the damaged one?

Take a look at Sir Sam's pics and info here on the rockers:

viewtopic.php?f=5&t=62278&hilit=PSA+timing+belt

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2006 CRD Limited
SEGR Mod
Saikou Michi Condenser -- Deleted
Samco Hose Kit
Fumoto 102
Etecno1 GX3123 Steel 7V Glow Plugs
GDE FT Eco and Hot Tunes
JBA 4.5 UCAs
OME Lift

The rocker looked very similar.. I would assume from that link, it would be ok to reuse the cam.

I replaced both cams when the rockers failed and badly scored all the lobes on the cams. You can take a chance w/ using old cams, but they will greatly accelerate the damage to the new rockers you install. Just replace the cams. You will need a "special" tool (about $90) to pull out the bearing/seal on the end of the cam, but if you are replacing the cam, just use a screwdriver and jam it against the cam to pull it out, or a bearing puller. Just be careful to not damage the outside surface where the new bearing/seal will go. You could probably reuse the end caps for the back of the intake manifold where you pull out the cams.
And replace ALL of the rockers/lifters. Play in the rockers = needle bearings have failed. You can find a set of 16 for around $400 on eBay from Europe. Don't buy them from a dealership - see these photos for damage I had:

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05 Liberty CRD - Sold
07 WK CRD - Family SUV