"The stems look woody." Define that - like live or dead wood? As plants mature, and especially if kept more than one season, the main stem and larger branches will take on a woody look - they're strengthening so they can hold more as the branches fill out. Some varieties do this more than others. So the question is whether they look like they may put out more shoots or if they look like kindling - bone dry. Still, don't be surprised if a branch/stem that you think is done for puts out new branches - it's what's inside that counts, not the outside. With my OW's, I keep all the stems/branches until I am confident a given branch won't produce more, as I have definitely been wrong on occasion.
Repot? I'd say yes - but answer a few questions first. Did you repot before you brought them inside? Before I bring mine inside, I work them out of their pots, give both the tops and bottoms a good pruning, rinse the roots that remain out as well as I can, then repot with fresh soil. If you did the same, you can try to work them out of their pots but keep the soil around the roots as intact as possible. Then put some fresh soil in the bottom then replace the plant - fill in with fresh soil around the edges if some came off. Consider - roots tendency is to go down and out. They need more room in those directions than up. The times I'd say to put soil on top are if the plant has a stability problem.
If you didn't do as above before you brought in, I'd recommend repotting with fresh soil now. Soil does become depleted after some time. It's not usually just one season with peppers, but I like to give them fresh every year.