How often do you guys get an alignment on your cars, and over how many miles? Within the past 5 years I mentioned, my car has seen less then 20,000 miles.

Any car, any time I change ride hight, or steering, suspension components, except for shocks. My Valiant, and Cuda, are very low milage,so just when something doesn't seem right, or when changing parts. My dodge diplomate, about every two years, or if I hit a bad hole or curb, something that could knock the alignment out. My Toyota pick up has never had an alignment, in 18 years and 286,000 miles. It still goes straight and gets totally even tire wear. It has never had a single part in the front end replaced.
So it depends on the vehicle and the use it gets.
What a lot of people forget to do is: same tires on both sides of the same axel (brand, model, and size), Wheel balance, and proper alignment. If all four wheels are the same size, rotation.

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Charrlie_S
65 Valiant 100 2dr post 170 turbo
66 Valiant Signet 170 nitrous
64 Valiant Signet
64 Valiant 4dr 170
64 Valiant 4dr 225