I can usually tell the gap has gotten too large and time to replace, when in the winter, the depressed battery voltage due to the low temperature, causes the spark to be weaker and it takes longer to start.
Otherwise I wouldn't replace platinum or better, before 75K mi without a known issue like burning oil that fouls them. After 75K mi it is a matter of convenience when doing something else that makes that easier, (depending on engine design) or about 10 years for the first swap... I don't like to leave plugs in longer than 10 in case they get hard to remove.
After that first ~100K spark plug replacement interval, for 3rd set of plugs, I drop down to at least 50K change when convenient, or about 75K just to get it done. Also depends on how much work is needed. It's much easier on some engines/vehicles than others.
The other school of thought is, if it ain't broke, don't fix it.
BUT, considering all the inherent costs in operating a vehicle, having to replace a coil (because stressed from too large a spark gap) isn't all that expensive. Weigh it against all the many other preventative maintenance costs trying to cover all "just in case" failures, and what hardship it would cause if there was a failure taking a vehicle out of commission for up to a few days. For some frail owners, any amount of money or effort to mitigate future problems is worth it if being stranded poses a medical risk.
If it's just a hobby to be ahead of the curve like many on BITOG make it, replace the spark plugs instead of losing sleep over it. Don't look at it as an expense you could avoid but instead an expense you will have to pay anyway (unless soon selling the vehicle) so the cost per year for the life of the plugs, wasn't much different.