You haven't mentioned whether apparent boat & engine performance has declined for any reason since new and whether the upper 1/2 of the mfgr's WOT RPM range spec is readily attainable.
As it's been widely reported that some props may be out of marked specs right out of the box, it makes sense to get the props scanned by a PropScan shop for free with no obligation to service them so you would know for sure with a (also free) printed graphical and comparative data sheet for your boat records just how close they presently are to what you assumed they were(claimed specs), to the generally-accepted affordable "ISO 1" spec., and will reveal if they are presently a MATCHED set for minimum vibration & so one engine isn't unnecessarily constantly shouldering a bit more of the loads the other one loafs that bit.
And your records would then have a document showing your benchmark for comparison to condition revealed by future scans. The scan shop would also keep a computer file copy of the scans ,so if one happened to destroy a prop on a rock a new prop could be ordered over the phone that would be tuned to perfectly match the original (if single) or set-match remaining prop (if twins). No need to take other part of the set in to get matched.
Personally, I enjoy taking my I/B props over to RI to get them prop-scanned each year as I watch and discuss the clear results with the very friendly & helpful prop service master there. That way if I notice any discrepency in boat performance, I have a much better way of weighing the props likely influence on that. If you can be there to watch the scan & discuss , I highly recommend that over sending them .
I always keep in mind that it is unlikely ( certainly in this area )that boats that are well used each year will have their props escape some running contact with flotsam or ubiquitous pot buoys , etc. and noticed or not that just may have affected the prop specs with no obvious visual clues.
I'd also note that , as opposed to the Prop-Scan shops, the MRI scan system prop shop I once took my props to charged a hefty fee upfront for just the pre-scan so I don't go there any more.
I appreciated having this scan info and applying it to my benefit, but many people rarely have the scans or service done unless they have a bad grounding or other impact that more obviously requires service. Personal preference.