At least annual is optimum.
The best is to do this on an ongoing basis, so that you are looking at full exam periods. If you are a smaller bank with longer exam periods it can be risky to only look at short self assessments because you never know how far back the exam will go.
The key to CRA is planning and assessments. It is dangerous to wait until right before an exam and scurry around to get ready. You want to know where you stand at all times so that you can adjust as needed...beef up in certain AAs, focus on investments, or services, or lending when you see shortfalls. Don't wait, then it is too late. Lack of planning is what causes most poor exam results.