It's pretty standard practice to do this post-exploitation.
Further this requires you to regularly check your log files for suspicious activity, which is way more work than just rotating your ssh keys - which can be easily automated. Running a script that will automatically rotate your ssh keys on all servers in your .ssh/known_hosts is trivial.
Also, rotating your ssh keys is something that has a chance to prevent intrusion, whereas if you see something in your logs it's already too late.