I change mine every year. It's drained into a container to look at how much was in it, if it has water, if it has metal particles. Fishing line, especially braid, can get around the shaft and compromise the seal. The washers are replaced every year and tightened with a special tool. They are hard to tighten and people do leave them loose. They don't fall out but they could allow fluid to be sucked out in the vacuum under power. I lost a lower unit a few years ago to loose washers and exchanging oil and salt water. Full of chocolate milk oil and metal particles.
It's also a good practice, although I don't do it every yer, is to use a vacuum gauge and a pressure gauge to test the lower unit before filling. Instruction are in Yamaha service manual.