I checked mine at 75,000 miles and found one exhaust loose and 3 intakes a bit too tight. At 25,000 & 50,000 they were in spec. It doesn't take long to check them if they are in spec. Takes a bit longer if they are not.
I borrowed a shim kit with the tools from BuddyRich on this site. Don't know if he is still loaning it or not.
I would suggest you check them just for peace of mind. Maintenence is cheep, repairs are expensive.