Do I need to soil test?

I've had a small garden the last few years after moving in to a place that had an existing garden. I'm trying to plan through the winter so I can grow more of my own food next year.

Everything seems to have grown pretty well the last couple years, but I was thinking I don't know how the area was managed before I started using it.

How many of you expert green thumbs test your soil?

How often do you test?

Do you focus on micronutrients or only macros?

Anything else I'm not thinking of?

It seems like a reasonable cost to test at least once every couple years to maximize the quality of what I grow.

Thanks for the help!