I don't replace them preemptively replace them but I have had one go out on my BMW and that was an expensive PITA to have it towed to a shop and replaced rather than simply doing it in my driveway at time and parts sourcing of my choosing.
A couple years ago my wife broke the clutch fork on our ALH but, again, she was a few hundred miles from home so she had to tow it to the nearest reputable shop. It took a bit of talking them into but I finally got them to swap the DMF out for a Southbend stage 2 but they wouldn't budge on reusing the slave cylinder. The shop basically told me they had just had too many old ones either go out too soon or leak into the tranny ruining their job so they would rather not have to deal with the callback. I had her collect all the old parts, take pictures of the flywheel and clutch (we thought the clutch had gone out until they opened it up and found the snapped fork) and it seemed to be fine when I got it in my hands (albeit old and cruddy looking).
Anyway, they didn't charge me extra labor and my wife brought them all the non-aftermarket stuff (fluid and slave cylinder) from the dealership so they weren't trying to gouge us on anything. Just relaying what someone with more experience than I have explained to me and how he handles it. I wouldn't crawl under there and do it for fun, but if you were going to change out the clutch then it seems prudent to throw the $60 dollar part on there and call it good for another 200K+ miles.