Nope although I do keep meaning to get it done, it was last done around 6 years ago.
Much like car servicing to me its the minimum possible time recommended that they think they can get away with.
For rentals sure an annual inspection probably makes sense since many will only fix something thats broken.
For normal home use, extended warranty excluded, I cannot see any feasible way even with current gas prices that the minor efficiency benefit of being cleaned will ever repay the fee.
I have a CO detector sitting in the cupboard my boiler is in, I check every so often that its working and batteries are fine. Its darn loud even in the cupboard.