Typical indicators of misalignment are uneven tire wear, pulling (the car does not go reasonably straight with hands off the steering wheel), and the vehicle not going straight ahead when the steering wheel is in the straight-ahead position. Some forms of improper tire wear are not obvious to the untrained, so it’s a good idea to have the tires visually inspected by a pro every so often.
A car can maintain good alignment for years, so it’s not always necessary to have routine alignments as maintenance. On the other hand, any car can have its alignment thrown out of whack at any moment, typically by hitting the curb (kerb?) or a pothole.
Wheel alignment adjustments are done to the hundredth of an inch and the quarter of a degree, which cannot be discerned with the naked eye. If you want to be certain that the alignment is right, the only way to know is to have measurements taken on an alignment machine. There will of course be a fee to do that.
A sensible thing to do is have an alignment done when new tires are installed, to maximize their life. And of course it should be considered if any of the symptoms mentioned above occur. It’s hard to make a strong case for doing alignments in the absence of those situations, but if you want the peace of mind and it fits your budget, you can have one done every year or two.
Now, it is wise to rotate the tires regularly, as mentioned above. Starting off with four new ones, rotation is typically called for every 6,000-8,000 miles (10-13K km?). In this case, I assume you have new tires on the front only. The time to rotate them is after the fronts have worn enough to have somewhat less tread than the rears. After that the 6-8K miles schedule should be appropriate.
God, I’m so wick when it comes to cars. I blame my dad!
Well, none of us were born knowing this stuff, and not everyone is interested in it. If you don’t care much about learning and/or doing car stuff, find a good garage and let them help you.