You're most likely fine
I've worked on a C6 Z06 with a dropped valve and you would certainly know when it happens. The motor is ripped apart, the valve breaks off and falls into the cylinder, causing massive damage. The one I did, we just replaced the motor under extended warranty, which was lucky for the owner as the bill was over 20 grand. I have some pics to show the carnage.
As for replacing the heads, it isn't to bad if you've got tools and the know how. Be careful timing the motor, to line up all the marks, otherwise you could destroy the new heads you just put in.
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