I checked mine in detail and regreased them generously 4 years ago, when the scooter was new.
Since then I never had any troubles with it.
But you don´t necessariliy have do take everything apart to check if the pins are able to move freely.
I just push the whole caliper with both (strong) hands against the disc to press the caliper pistons totally back into the caliper.
Afterwards I have plenty of free play between the break pads and I can move and wiggle the caliper back and forth and check if the pins still are greased well and have some free play. No tools and dismantling needed for this test.
And if I can feel these calipers to move freely and having the wheels spin freely, I don´t see any reason to take them apart.
It´s easier on the front caliper, because on the rear the muffler might be in the way somehow to grab the caliper strongly enough.
But bear in mind, if you do it that way, to reseat the brakepads against the rotors by pumping the brakelevers a couple of times until you feel resistance, before your next ride. Do not forget that important step. Otherwise you will/might end up in a harmful crash on following ride.