How often should I clean my washer gasket or door seal?
Wipe the rubber door gasket of a front-loading washer after every wash, and do a full pull-back-and-clean every week. Top-loaders have far less gasket surface and generally don't need this level of attention. Neglected gaskets are the #1 source of washer odor and cause most mold complaints.
Front-load washers have a flexible rubber boot that seals the door against the drum. It catches water, detergent residue, lint, and hair — and because it's warm, dark, and slightly damp, mold grows there faster than anywhere else in your laundry room.
Weekly routine (takes 3 minutes): pull back the gasket folds, wipe with a 50/50 vinegar-water solution or washer cleaner, inspect for black spots (mold) or stiffening (hardened detergent). Rinse with a damp cloth. Dry with a dry towel. Leave the door open.
After every wash: quick wipe of the visible gasket surface with a dry towel, pull back the lower fold to let water drain out, leave the door ajar.
Manufacturer guidance varies only in wording — LG, Samsung, Whirlpool, and Electrolux all recommend weekly gasket cleaning in their owner's manuals and warranty documentation. Persistent gasket mold can actually void portions of the warranty in some cases.
Manufacturer resources
Official support pages for brands commonly referenced in this answer.