Dear Mike,
You posed an interesting question, but I think it's an "it depends" answer.
Suggest it's prudent to check the output offset voltages whenever the amplifier; has undergone repair or modification, has been taken out of long-term storage, was purchased used or its history is unknown, or there are concerns about the sound quality.
Other factors depend on the amplifier's circuit topology and the selection of components installed, but if the measured offset voltages are low millivolt values and stable, I don't think routine checks are needed.
That said it's not a difficult measurement to make.
This reply was based on my limited experience repairing my vintage Bryston 2B amplifier where the DC offset measured across the output terminals was +4mV left channel and -6mV right channel.
Documented in "
Bryston 2B Power Amplifier repair - Hints and Lessons Learned"
Bryston 2B Power Amplifier repair - Hints and Lessons Learned
These DC offset voltages have been stable since the amplifier was purchased new in 1979, and while all electrolytic capacitors have been replaced there have been no changes or adjustments to the original input transistor differential pairs.
Thank you,
John