I've been wondering what the interval was on replacing PCV valves in our Toyota's? Seaching online, it seems to be anywhere from every 20,000 miles to 50,000 miles. They only cost around $8 and I've only seen one Toyota model (so far) that's more involved to replace (you have to remove the exhaust manifold on one model I looked at.) Else it's just unscrew and replace. How often do y'all replace yours? (I plan on only using Toyota OEM, of course.)
I'd be comfortable with that 30 to 50K interval. But it depends on the generation of the engine. The early 3rd Gen Prius engines had a lot of blow by from the low tension piston rings, so the PCV valves got pretty cruddy.
Anytime I've got the intake manifold off I'd consider it. Though if it's short notice I'd probably just squirt carb cleaner through it, put new, non-permanent, oil-resistant thread lock on the threads and reinstall.