Obviously cleaning it can't hurt anything, but the VSS is not always easily accessible...

Some models, like my 2003 Heritage, you can pull the VSS and clean it without any hassle. Some models you need to pull off other parts, like the starter, to get to the VSS...

Since my Heritage is easy to get to, I will probably try cleaning it first, should it ever show symptoms of starting to fail. But I wouldn't clean it, just to clean it...

If I had to remove other parts, like the starter, just to clean it... I would probably choose to replace it if it threw a VSS code or was acting up...

The choice is yours...