Never replaced one in any car where it was in the tank, where I think most are now. Otherwise, I'd go by the owner's maintenance manual. I think many are "life of the vehicle".
Had a 2002 Honda never replaced over 200k miles (original water pump and alternator, too) '13 Subaru never replaced (only about 60k miles before losing), 2005 Subaru 190k never replaced still running.
So, for me, this item wasn't listed as maintenance, so I haven't done.