I haven't had a real need to really do maintenance on my board other than to do a weekly backup to databases (in case of the worst case scenario hardware failure) but my boards run fairly smooth without going crazy on maintenance. I would say every year or so I optimize tables etc. and prune out orphaned topics etc. but other than that I don't know of any real maintenance that is required to be done to keep things smooth.
This said, I would consistently keep up with updates with php and apache as there are often security fixes that keep them smooth. Also Rick and team will update software when they find/fix a security issue as well.
Dunny