Yes, I am having some woofers foam surrounds replaced and the guy doing it said he was always having people bring one in only to have to bring in another shortly after. If you do them at the same time you might get a better price but you will certainly save time and effort and make sure they sound the same.
if one midrange needs a new foam surround, should
they all be done, on the theory that if the foam of one has deteriorated, the are all probably in similar shape? there are 4 (d'appolito array) in my 14-year-old speakers.