If there is stuff in the ducts, the fact that it’s laying there and not being blown into the rooms is proof positive that it is hurting no-one. The 5-6 exceptions you cite in this article I’ll buy, but only with the caveat that at least some of those could have been avoided by proper protection (during remodeling for example) – and if asbestos/lead/whatever winds up in your ducts- the remodeling contractor should be the one paying to remove it.
In reading through all this about duct cleaning, THE ONE preventative measure people need to realize is that a poorly installed HVAC system that is not sealed and air tight to ensure that ALL indoor air passes through a GOOD air filtration system IS THE best means of ensuring your ducts remain clean. Duct cleaning does not now and will NEVER improve an HVAC systems efficiency. Proper maintenance and installation are the key just as improper installation practices allow for dust infiltration into the duct system. I am a state licensed contractor in Texas, and unless people have their hvac system sealed and/or properly installed, duct cleaning is an absolute waste of money. My duct system is 12 years old as is as clean today as the day I installed the system with ductwork. SO before ANYONE jumps on the bandwagon of duct cleaning, get with your hvac professional FIRST.
Duct cleaning is a band aid, like washing you hands is. Under your description, why wash your hands more than once? If it gets cleaned once, it shouldn't get dirty again. Well that is, unless they touch something dirty. Keeping your hands completely clean is virtually impossible. Same as keeping dust out of your home. You clean your ducts and over a 3-5 year span they get dirty again. Also, duct cleaners are not licensed but should be certified by NADCA(National Air Duct Cleaning Association).
You may consider having your air ducts cleaned simply because it seems logical that air ducts will get dirty over time and should be occasionally cleaned. Provided that the cleaning is done properly, no evidence suggests that such cleaning would be detrimental. EPA does not recommend that the air ducts be cleaned routinely, but only as needed. EPA does, however, recommend that if you have a fuel burning furnace, stove or fireplace, they be inspected for proper functioning and serviced before each heating season to protect against carbon monoxide poisoning.