A lot of companies do lose their keys that way. www roots, gists, hardcoded in products, github history, etc.
The win to rotating them is not so much because you'll be regularly evicting attackers you didn't know had your keys, but because when you do have a fire, you won't be finding out for the first time that you can't actually rotate them.
It also forces you to design things much more reliably which helps continuity in non-security scenarios.
After redeploying and realizing that Todd has to ssh in and hand edit that one hostname and fix a symlink that was supposed to be temporary so the new version of A can talk to B, that's going to get rolled in pretty quickly. Large operations not doing this tend to quickly end up in the "nobody is allowed to touch this pile of technical debt because we don't know how to re-create it anymore" problem.