Do the first check, it will be a lot of peace of mind on that engine that I would assume you’d like to keep around for a little while.
if it looks good, leave it. put it back together with a new valve cover gasket, coolant O rings, and timing cover gasket. if they’re tight, set them all to ~70% of the max acceptable clearance, and check it 50k later. this bike is bulletproof. *with proper maintenance* skipping a valve adjustment on any engine, particularly a motorcycle is a sure-fire way to shorten its life expectancy.
I did a valve check in august at 108k miles on my ‘14 still in spec, i however adjusted the intakes to the maximum I could, and will likely have no need to ever do a valve adjustment again in the next 3 years