From 2008 to around 2015, upgrading every two years could make a meaningful difference. From ~2015 to ~2020 upgrading every three years might be worth considering. I just upgraded my top of the line flagship after nearly six years. And I actually looked for compelling reasons to buy a new phone every year since 2023. There just weren't any.
Frankly, this latest flagship phone is pretty underwhelming. It's slightly faster at a few things. The battery lasts a little longer. The screen can get a little brighter. The camera is supposed to a little better. But those are just the claimed improvements. I haven't actually noticed any of them in daily use because they weren't issues with my 2020 flagship phone either. Otherwise, the new phone is almost exactly the same size, same weight, same resolution, same look and same capabilities. I only upgraded because I was long out of contract and it was a only a couple hundred bucks for a $1400 MSRP phone with a new contract and a trade-in of the old phone.