I replace when the earth electrodes start to get a bit thin - which means far too infrequently probably!
They don't seem to soot up too much on mine luckily, running on 98 juice (which now is E5 here).
Think I only ever had 2 sets on my A in many years - Bosch and then a pair of B6HS.
The alloy heads hereabouts have always run happily on B7 or B8ES, occasionally over the years N3-5 with or without a C. The baby LE Velocette has been running tiny NGKs (I forget the spec) since 2009 - but hasn't done that many miles. The electrodes on them are like new still.
My XJR Yamaha started to misfire about 4 years ago after about 35K km and I had to replace the Denso plugs on that, which isn't a trivial 5 minute job.
Net of which is, I'm not big on replacing, but am quite big on periodic checks and gapping (on oldies).
Not sure whether I think plugs do better on mag-fired, trad battery / coil fired, or modern electronic systems.
(Modern cars, just dunno. Dunno where the plugs are even!)