I would recommend extraction. It seems like they are definitely partially impacted. If a portion of it is visible in the mouth, it can create an area where food gets trapped and also makes it difficult to clean. On the x-ray it seems that there might be some secondary decay due to possible food impaction in the area, especially on the right.
Based on your PAN, I would suggest seeing an oral surgeon in order to take out the teeth, since their roots are in close proximity to the inferior alveolar nerve. To prevent future problems, we usually advise to take out all 4 wisdom teeth at the same time.