Seals will fail over time and heat cycles. The rubber/plastic goes hard and then they can’t do their job well as they can’t keep the oil where it’s supposed to be resulting in leaks.
Checking how pliable a seal is is reasonably easy. You can lightly push on the seal itself using rounded bit of wood and compare to a new seal. Just keep in mind that an installed seal will feel much stiffer than on sitting on a bench. If it isn't pliable, I’d replace it because of the effort required to get to that seal at a later date.
But if it ain’t hard and still comparable to a new seal, I’d often just decide to leave it alone. Why, because the question that’s always on my mind is whether a new part will fail early due to stuff being made poorly these days (and supply chains are a bit pooch screwed these days so one can’t be certain where and at what quality stuff is made)
Basically I try and live with the rule don’t fix what ain’t broken