If the car is running fine and you dont have a check engine light with an egr or misfire code then No. Too much of a pain to do just for prevention I'de say... You may never even have a problem with it. If you do just replace the valve.
Seafoam it. I just had a check engine light the other day with the code p0401, and I seafoamed it, hasn't come back and car runs smooth. Worth a shot first to see
I bought a 2003 Protege5 in October 2013 with ~80,000 miles on it and read about EGR problems. I know they can be cleaned, but decided to start fresh with a new one from Amazon for $75.00.
Here's how clogged the original one was with about 80K on it -
