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The frequency of embedded device security assurance depends on various factors, such as the complexity, criticality, and risk tolerance of your systems, applications, or business in general.
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As a general guideline, it is recommended to conduct software security testing at least once during each major development phase, such as during initial development, after significant updates or modifications, and before deployment or release.
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Additionally, employing ongoing embedded security services should be a part of a proactive security maintenance plan, with periodic assessments scheduled at least annually or as dictated by industry standards or changes in the threat landscape.