I've never bothered with headspacing, nor known anyone that did. I've also never known anyone that's had a problem with their AR.
I'm building a precision upper and a rifle for a friend though, and I dropped those barrel/bolts off to get headspaced. Why? Partly because I was dropping them off for gas block dimpling anyways, so I might as well, and partly because I just wanted to be sure I covered all my bases on each setup.
I've no concerns about it and doubt I ever would have known a difference if I had or hadn't, but for how cheap it was I didn't find a reason not to.
If you'd have to go spend a significant (to you) amount of time and money, maybe don't bother. Whether that's driving a long way to a smith or having to get your own go/no-go gauges. But if it's convenient/easy/cheap, then I say just go for it for peace of mind.