Do dogs need an annual checkup?

Growing up, visits to the vet were rare. Not only was my family frugal, but the level of love and respect for our animals wasn't what it is today.

Most vets I know recommend an annual checkup, but I wonder how many people do that.

Rabies shots are now given in doses that last three years, so shots alone aren't going to draw people to the vet. Teeth-cleaning is a yearly concern, but again, I'm guessing most people avoid that as well at $500 plus a pop.

My Yorkies get annual checkups, but that's mostly pinned to their therapy dog status. I probably took my last Lab to the vet that often, but only because he had health issues.

What's your opinion? Is an annual checkup necessary for a dog?