Both Checker Auto Parts and Napa recommend replacing them every 100K miles. I have 92K on mine and I still get 18-19 MPG on every tank of gas. I also don't have any driveability issues. I'm with Al. If it aint broke, don't fix it. If your mileage isn't where it should be or your engine doesn't have the power it should then look at replacing them. If your engine is running just like new, then putting new O2 sensors in isn't going to do anything that you will feel or see.
Now on my Wife's '93 Sable, I just replace both O2 sensors last weekend. Her mileage has dropped to about 13 MPG in recent months. Since the car had 90K on it when we got it, I don't know how old the sensors were so I went ahead and replaced both of them. They had a Ford stamping on them so I am assuming they were original. Since the car wasn't running right, I didn't have a problem replacing both sensors considering the age.