Since we have mandatory inspections, its not something to be concerned about as far as when to do so as they will advise you as to when.
But between inspections, sometimes things happen sooner than it should, and thats the time to evaluate how serious the problem may be.

Brakes should be smooth and quiet. Any squealing is an indication of unusual wear, and if it continues, will necessitate turning (shaving off the high spots or grooves made by the holding rivets that hold the pads in place) of the rotors. An expensive total repair.

The brakes should not vibrate when applied such as a thumping which indicates the rotor may need turning. Also the car should slow down in a straight line. If it pulls to one side or the other when applying the brakes, this is another symptom of something going wrong.

Very important, if your brakes start to fade after repeated stops, this is something you shouldn't waste time in getting evaluated.
Preventive maintenance can save a lot of money when it comes to your being able to recognize problems before they become big problems.

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