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I would say only when they fail, with the exception of the Cam Position Sensor which I would recommend replacing whenever the VP44 is changed. I have cleaned both IAT and MAP sensors before, but haven't replaced any sensors other than the CPS.
If it is for your 99 you have a cam sensor but it is used for diagnostics only. On the other hand you do have a crank shaft position sensor behind the starter. I would recommend having a spare with you.