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I'm not sure what files they are exactly, or how to find them either, but do people usually delete them after upgrading?
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If you are not sure what to do then do nothing.
"If it's working then don't try to break it". Unless you'd like to.
I don't use grub2 (yet) but
/boot/grub/menu.lst* takes maybe 2KB which is probably 0.00001% of your filespace, so, why bother, at the risk of breaking your system?
Alternatively (and to be on the safe side) backup your system, run the suggested command, and see what happens.