If they are the platinum/iridium plugs, at 100,000 miles. Otherwise, at your 60,000 mile servicing they will look at them and determine if they need replacing. If you are using good gas, most likely won't have to do anything but check the gap.
At tune up time or 100,000 miles. If you just purchased the truck and want to change them for piece of mind then it can be done, no harm would be caused.
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