After a keg kicks, I make about a gallon or so of hot PBW solution in the keg, shake it like hell, then run it through the line, letting it soak for a little bit before running it all out. Then I rinse the keg as well as I can and run a little starsan through the lines. Every few kegs I'll do the same with BLC, letting it soak in the lines for 30 minutes. I take my faucets apart to inspect/clean maybe once a year, also change the lines somewhere around once a year.
A new procedure I'm going to be including is to disassemble my gas lines, soak in PBW, rinse and dry, every time I get my CO2 tank filled, which is once every 15 months or so. It's a 20lb tank. After having just gotten over an issue with dirty gas lines, it's better to be safe then sorry.