I clean my air filters every 6-7 months by tapping it lightly on hard surface then vacuum on dirty side with shop vac. With this easy maintenance and living in not so dirty area, my air filters did not needed to be changed for 40-50k miles or 4-5 years.
I just have a look at it every oil change and once it's looking dirty it gets replaced. The average time that takes for me is about a year, 30-40K kilometers. If I happen to do a lot of driving up north on gravel roads etc cut that number in half or so.
I have not determined an interval yet. I bought it at 24k on the odo with a new Motorcraft filter and now it has 38k on it. I installed a 'Filter minder' gauge and its has not even moved off the minimum reading yet.