Do you keep a brushing routine for your dog, or just do it when needed?

I've been working on brushing my dog more regularly, though I'm still getting the hang of it.

Some days it feels like I should be doing it regularly, especially with shedding and small tangles. But then there are days where his coat looks totally fine and it feels kind of unnecessary.

So now I’m just stuck between trying to follow a routine or just doing it whenever it seems needed.

For those who’ve had dogs for a while, what ended up working better for you?