I replaced all the ducts but the trunks in my 1969 home when I replaced the horizontal furnace under the house with a gas pack. I got advice from a friend who was an HVAC contractor. I was surprised to find the trunks and other ducts very clean. I replaced the individual runs with flex primarily for the insulation. I wrapped the trunks with insulation also.
I guess I should present my credentials first, I am a 30 year veteran of the heating and cooling industry. I started at the bottom and have participated in every area of the trade. Installer, service, maint. Ownership, rep, territory manager and so on. A forced air duct system is a large vacume. Like your vacume it has an air intake (return air) and an exhaust (supply registers). A filter just like a vacume (located next to furnace or air handler). Now I want you to visualize something. Put your head inside your vacume cleaner and breath. Get the picture? This is what your duct work looks like. Do you clean your vacume when it’s dirty? If it’s full and the filter is dirty you lose performance and it starts poluting the air you breathe. It’s common sense. I recommend hiring a duct cleaning outfit that you have researched to be honest, background checked, drug tested, insured, and highly recommended by your piers in the area. The service is a necessity, but like everything, it should be done by a qualified company.
Some research suggests that cleaning heating and cooling system components (e.g., cooling coils, fans and heat exchangers) may improve the efficiency of your system, resulting in a longer operating life, as well as some energy and maintenance cost savings. However, little evidence exists that cleaning only the ducts will improve the efficiency of the system.