It really depends on the derailleur that you have. If it is undamaged and worth keeping, of course you can replace the jockey wheels. Original jockey wheels might not be the best choice because many of them use slowish bushing bearings (instead of low friction ball bearings).

And you can get new sealed bearing Tacx jockey wheels for under 20 bucks. They are super low resistance and they work great (but you don't need ceramic bearings, those are usually not a good use of your money). I have used Tacx jockey wheels for years, they are reliable and a good upgrade/replacement.

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