It is my opinion that you should have a plan and be open to changing it as facts present themselves.
Upon move in of a new tenant you should inspect the property and photopraph or video tape the interior, exterior, and yard, front and back.
During the tenancy the occupant is entitled to quiet enjoyment of the home. In California, there are limited reasons that an owner can enter the property for. These include doing necessary and agreed upon repairs, appraisals and sales acitivity, and emergencies.
I do suggest that you get into your property at least annually do see how the house is holding up. Checking the roof, windows, bathrooms, drains, kitchen, smoke detectors, and getting into all rooms to check for leaks, should be included in your inspection.
I would also use vendors during the course of the year that can give me feedback when they enter the property to do requested repairs.
Note that in the Sacramento region, local governments require annual inspections in most areas. These must be documented and sometimes must include a government inspector's report.
I would also want to get inside if something comes up that makes me think it would be wise to get inside. A complaint of parties by a neighbor, evidence of an illegal pet, chronic late rent, or anything else that makes me suspicious.
In sum, plan on getting in annually, but be ready to go in when you get that bad feeling.