I've replaced mine and it was necessary, as the engine had been neglected and run for 20k oil change intervals and had some sludge. You'll want to get new crush washers for the cap bolts to ensure a good leak-free seal.
If you've kept up with oil changes and run decent oil, it's unlikely yours are crudded up.
I'd pull the easy one and check it, located passenger side behind the oil dipstick so it's an easy pull. If it's clean, no reason to pull the harder to access driver side filter. If it's got sludge...off you go.
Get a new crush washer and torque the cap bolt to spec as shown in the attached service manual pic.