That is a really good question. When I was active duty, we had to do a 720 day inspection on our munitions trailers. While they do get a work out, they do nowhere near 2000 miles in that time...Maybe 500. I could always tell the trailers that sat and were never (or rarely) moved in that two year time period. Those trailers would sometimes develop dark lines on the bearing races where they sat and the very small amount of moisture that got in caused the darkening. The tech orders said that they had to be replaced, so we did, but that was more of a cover your butt thing with the trailers hauling explosives and such. The ones that were moved on a regular basis rarely if ever developed them. The grease never went bad and it never appeared that there was a lack of grease in the bearings when they came in for the bi-annual service.
Before I joined the military, we ran a race car at the dirt track. We were having to repack the bearings with regular bearing grease about every other week. We found Amsoil synthetic bearing grease. Used it and only had to repack mid way through the season. (Not an ad for Amsoil, just stating what we used)
Finally, I have a 1965 Chevy C10 pickup. It was my fathers who gave it to me when he passed away. It has 49,000 miles on the odometer (and probably wrapped around once or twice before that). Two years ago I went through the bearings in the truck and found that the rear axle bearings were pitted and needed replacing. The front bearings were still in good condition and they were the original bearings. I did replace them all, just in case.
So it is really up to you and your preferences as to what you should do. Take the advice here and from others, and then pick a happy medium that will work for you and your wallet.
Mind you, your mileage may vary, see dealer for details.