I have X50. The Proton SC did once after the first year (12k km). Since then, I've not done again. Car is now 32 months old (28k km).

Assuming I'm a normal driver mostly driving on city roads, when to do it? My steering doesn't veer to one side.

At what point is it more beneficial to doing alignment, balancing and rotation - rather than not?

Yes, it is indeed recommended even if you drive in city, as city roads some may have bumps or uneven surfaces.

Align, balance ensures that your vehicle travel with proper stability and subsequently reduce wear on your absorbers or bushings.

While also minimize tyre uneven wear, potentially increase fuel savings too.

While rotation balance out the front and rear tyre wear, so you can change the tyre in a longer interval, although you might be required to change all 4 at one go (however, this may give you better discounts from shops).

When u hit big pole
Or everyday use uneven road

hi speed affected. low speed no different one
inspect 4 wheels condition will know

usually front wheel use more than rear pair
so we rotate balance