What exactly do you mean with "didn't seem to have any problems"?
I mean that there was no functional problems with the machine (any instability) which is what I would expect when the caps get too far off the rated spec. I don't see how the rest of the components could be actually damaged by excess ripple, unless it is very severe (which it won't get to if you're using the machine regularly).
Edit: And yes, of course the caps will degrade over time and it won't hurt to replace them as long as you know how to replace them and are using quality replacements. Having non-skilled people trying to replace them because they think they need to could easily do more harm than good. Then I think it would be better to just leave the old ones in until they actually start becoming a problem.