If you happen to open the handlebar for some issue then you can inspect the bearings.
Pro-active maintenance should remain as maintenance and not repair. Sadly, the same experts change even engine internals and call it pro-active maintenance. That's called 'repair'.
10k is nothing if ridden well over not so bad roads. Chill for now.
I have not had to do any 'pro-active maintenance' on the handlebar of my bike except change the cone-set maybe twice IIRC so far.



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