If you have emissions inspection where you live, and it passes, there is nothing to be gained by changing it. On some of the older cars with a 1 wire sensor it was supposed to be replaced every 60K miles. I don't think there is a specific interval to replace the 3 wire sensor. They usually last a long time.

Same with the blue engine temp sensor--if it ain't broke, don't fix it.

If you want to change something as preventitive maintenace, the fuel pressure regulator might be more to the point. They often go bad after about 120-140K.

Also, cleaning the intake, throttle body, and idle control system can make a noticeable difference in the way the car runs.