On a K1-K8 (and 'F'), it only needs to be done when the bike is new or if you do a port job. Disassembling the carbs for cleaning, so long as you don't disturb the nuts on the tops of the shafts, won't disturb the carb sync, either.
Generally, the carb sync thing is overrated and overdone, in my experience. Even back in the day, it was one of those things that customers would request (even demand), and we'd go to all the trouble of hooking up, getting the fan out, annoying the shop with the noise, only to discover that they were still well within specs. The balance doesn't wear that much.
In the days of the CB750K0, yes, it was an issue. The Four came with 4 cable-operated carbs, and the cables stretched forever. The result was uneven pullaway performance at stopsigns and the like, and vibration at highway speeds. When the GT-style linkage came out, we found that Honda's new advice was spot on: adjust when new, check at 1000 miles, then after rebuilds. Those of us who also hotrodded the engines added, "after port jobs" to the list, which Honda never would...
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