Should I be physically visiting my LTR properties once a year?

[Roman Randall]

I own two long-term rentals (single family homes) in Colorado. I haven't physically been inside either property for years; I've only driven by each house 1-2 a year. Each of the tenants are great, they always pay on time, and are good with communication. They have told me when things break, and whenever I check in throughout the year the tenants say the house's condition is great. However, it still feels strange to not know firsthand the condition of each property's interior or exterior. Should I be visiting these rental properties at least once a year to inspect the interior and exterior condition, or is that not necessary? My rental agreement states I have permission and authority to do so.

Any advice is appreciated. Thank you!