You should change it more often than you are. Its not just mileage that you have to keep an eye on, but time. A byproduct of combustion is acid and it sits in the oil along with fuel residue, carbon, etc. Its not good for the engine parts to sit in this for prolonged amounts of time. If you only do 3k a year, change it every year or so.
Its also an excuse to drink beer and work on the car.
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