Most people do not and most have no problems. I hate that in the past people have sold parts due to fear. THis is one part that it is good to change although not always necessary. I put a cam in my brothers 380k+ truck 2 years ago with the original lifters and it is still going.
On our cams we require it if you want any kind of warranty but it is not 100% necessary. I will say that I have seen more worn lifters lately than I have seen in the past. IF you want an alternative, call Geoff with Colt Cams and get a set resurfaced. That is the cheapest way and they will actually have a better shape than new.
Zach