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Yes, sometime even twice a years, but get them changed once you notice a very tiny play when checking the Brompton (catching it early greatly helped the poor mechanic who have to deal with your Brompton).
Left for too long will result in a new rear triangle (due to material have been eroded to almost paper thin), even a new frame where the hinge have worn it out to the point that a new one cannot be fitted.
The example I provided above were from customer bike that have not been service for around 5 years, and Brompton are designed to be a continual improvement product, making them keep their value up for longer.
Cheers all, I'll leave that bit well alone :) And this pivot replacement is an annual event, is it?