Their is no change interval on the manual for my Nissan's PCV valve. I have dutifully changed it every 50K miles based on advice from a Nissan forum. Every time it comes out looking perfect. These engines have no sludge - you can see under the valve covers in the oldest one in my signature. Changing isn't hard if you have the correct tools - but its on the back of the engine so getting the hose off can be a pain for the uninitiated.
The PCV valve on my Toyota is underneath the intake manifold. It doesn't look too difficult - everything comes off in one piece, the Toyota boards indicate people having dealers recommend replacement at a cost of around $500. While I am sure I could do it no problem, the idea of removing an intake from the cylinder head sounds like an opportunity to break something else in the process.
So how often do you change your PCV valve? What is the theory / logic about when or why? If there not getting gummed up does it matter? Does anyone bother cleaning and re-install?