its all preference. if you can maintain a clean res, free of root rot, algae, and other harmful microorganisms, then you probably wont have to change your water out as often. that doesnt mean you shouldnt keep an eye out on your ppm/ph/water level daily though. and yea, if the water looks dirty/brown/cloudy, change it out.
I change my water out twice: when switching to flower nutes, and then 2 weeks before harvest, i do a "flush", but I dont flush with clean water, I just replace the water with half strength nutes.