My experience with both the 517 and 717, having repaired and/or restored quite a few of these, is that the glue will eventually cause problems, and then a failure of the amp. In all of the unit I have worked on, only one had glue that had not "gone off", although there were signs that this had started to occur.
I have seen offset problems caused by glue damage to the smoothing caps on the main amplifier boards and channel failure due to power supply component corrosion on the power supply board. I have also seen component leads 99% eaten thought by the glue that would fail in a short time if not replaced. Your comment regarding the glue spreading over time is not right, the way the glue is now (the area it covers and the components it is in contact with) is the same as it was when new.
Removal of the glue, replacing affected components, replacing other component that have known issues like the fuse resistors and VD1212 diodes are not done to improve the sound, and the decision to do a full recap at the same time again is not done to specifically improve the sound, but to restore the amp to its original working condition and improve future reliability.
If the amp, before the work was carried out, had low or no bias current due to failed fuse resistors, power supply problems or out of spec signal path caps then an improvement in sound quality would most likely be noticed.
Have a search on the forum, there are a few threads on Au717 restorations that show the effects of the glue.
These is my thoughts based on my experience, others may have a different view. Ultimately it is up to you to decide. At least take off the cover, get some good lighting or a torch and have a look at the power supply board and around the large caps on the main amp module boards and see what condition the glue is in.
Link to a 717 with glue in "good" condition
http://www.audiokarma.org/forums/showthread.php?t=544077
and here is one that needed a little TLC
http://www.audiokarma.org/forums/showthread.php?t=469502
Cheers
John