I'd jack the other side up and spin the tire by hand sharply back and forth to see if there is play in the joint. If it's tight, I'd leave it alone. It's too much of a PITA job to just do it for the heck of it.
'92 YJ - heavily modded
'96 ZJ - heavily modded
'05 KJ CRD Limited - 370 lb./ft. from a 4-cylinder and trail ready. Pure awesomeness.
'11 Mango Tango JKU Sport - Mods
'12 Dozer JKU Sport S - 6-speed - ACE rock rails - Max Tow package - Daystar spacers - 33x12.50 Duratracs