You shouldn't ever have to replace the valves themselves, just the o-rings and backup rings. I've had to replace the plastic tops on them a few times when an employee left the wash-down switch on, but they don't wear.
I don't replace seals as preventive maintenance. I replace them at the first sign of a drop in pressure or pulsation. I've had two of the heads sleeved already, and once they're all done there's no reason at all to replace them until needed.