at 31,000 miles i wouldn't think about it unless:
1. it sees terrible road conditions - or has had a very significant incident (wrecked, etc)
2. sees significant offroad, track time, or aggressive driving
3. sees heavy tow loads
Alignments are akin to insurance - how much do you want to pay and how likely are you to need it?
They're largely over sold and over done, you can go 100,000 miles without an alignment easily if you know anything about vehicles and pay attention. I used to do it all the time before i lived in an area with terrible roads because a friend that works in the alignment industry told me that alignments are over sold and rarely needed. If bolts and mechanicals are "loosing" alignment regularly then something is wrong, parts are fixed for a reason.
but - you have $500+ worth of tires at stake too, so that's why i say it's like insurance.
if you live in rough areas, bad roads or drive the car hard, you're more likely to need it.
gently driven on normal roads without many issues you can almost never need an alignment.