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On my cars, I replaced them at around 150 to 200,000 miles. My '92 wagon just got it's second set at 323,000 miles. I know others here will tell you to leave them alone, but they aren't that hard to press out using a 12T or 20T shop press (I have harbor freight 12T and it works). You can easily press the new ones in with a shop vise.
EDIT: While they may look "fine", think of the condition of all of the other rubber suspension bushings you have replaced (i.e. sway bars, bucket bushings, etc.) The rubber dries with age, and looses its elasticity and thus shock-absorbing properties. Why should these bushings be any different?
One failure mechanism is juddering felt through the front end under under braking, which may even lead you to believe you have bad rotors. If you replace them, along with the bigger "bucket" control arm bushings, you will notice a huge difference in the ride/handling of the car and restore smooth braking performance. Somewhere on the internet there is a video of a BMW with worn CA Bushings- you can see the front wheels repeatedly move toward the rear of the car at least 2" and release under braking forces.
I wouldn't hesitate to replace them if you have the tools. Before I had a press, we used to burn them out and use a hacksaw to cut through the bushing shell, the shell could then be collapsed with a hammer and chisel or similar. An air hammer will make short work of them as well. It's not technically difficult work, just requires careful application of brute force. Have fun.
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'92 240 wagon, 306k, '90 240 sedan 243k
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