Bios... Only if you are having issues and/or if the new Bios update fixes something that is bugging the board.
Video... I used to be an avid driver changer but now, unless I am having issues while playing my games, I tend to let it go until I install or uninstall a game since, for whatever reason, the driver seems to get corrupted.
Audio... same as above, although, I am even more careful with this one since I use my onboard audio.
Monitor... if not the driver, they call it profile. Again, usually if issues arise with the driver I am using at the moment.
Best way is to go to Device manager, find the brand and model of device you have and go directly to the Manufacturer's site and download the latest drivers.
The majority of them have an app that can check your PC automatically (activex and Pop-ups should be enable for that site!).
Another way is, once inside the properties of the device in question (say Video Card), just go to the DRIVER Tab and you will see what Version you have at that moment. check if the new version you want to download is newer than the one you have.