Ideally you want to grease before it squeeks.If you wait until it is
squeeking you have metal on metal contact somewhere in the hinge.That kind of contact results in hinge wear.As a side note an unlubricated hinge requires more effort to close the
door and that can resultin broken armrests or
door pulls.I generally lube the drivers
door every other oil change and the other
doors, hood and trunk once a year.