Hmm... At first I was going to say "It's been a few years, you should do it." But if there's no abnormal wear and no pot-holes, you might be OK. How many miles? $150 is reasonable for all 4 wheels IMO. If I were you I'd at least have it checked.
Thanks. It's probably been over 2-3 years since it was checked and at around 20,000 miles so not a lot. I went ahead and had them do it since it was at the service center. With 4 brand new AD07s it will be like brand new.