Relief valves need to be able to operate as designed whenever the requirement arises. To ensure that functionality they must be regularly checked and recalibrated, depending on local requirements for the type of equipment being protected. To be certified, any repairs and calibration must be performed by a recognised facility (the manufacturer obviously being one).
Removal, repair, calibration, and re-installation should be planned around shutdown periods for the plant. Whether or not you send the valves out for refurbishment, or have someone come in to do the work at your company, if your shutdown period is shorter than the time required to complete an overhaul, then of course you would need new replacements to be available to install immediately.
I don't know where you are, but as I said, I am unaware of any requirement to send PRVs back to the manufacturer, and can only imagine that happening if you wanted them to overhaul the valves and there was no one locally available to perform the work and recalibration. The valves themselves should last longer than 5 years (depending on the environment) but maybe some of the internal bits will require replacement during the overhaul.
Cheers,
John