Since you have a tool that can read a bad sensor & you can program your own replacement when needed, I see no need to replace a sensor until it is dead. It's not like a car is disabled when a sensor dies.
If a person was replacing all their tires (like Top Fuel) & they had really old sensors, a person may want to consider it. The new sensors would most likely last the life of the new tires & then some.
My 2011 Forester - Cooper snow tires are in excellent condition with new programmable sensors installed this summer. I've been using older (nearly worn out) Cooper CS4 tires on my Forester the past few summers. Having an old (9+ years) sensor die may inspire me to do new tires/replacement sensors at the same time.