If you are talking about the gasket in between the lower intake and the upper plenum then you shouldn't have to unless you tear it. Ive took my upper plenum off numerous times and reused that gasket and never had any problems.
Yeah as long as you dont rip or tear the old one you should be fine, ive reused them plenty of times. I can also have the upper intake off in 10 min now so it wouldnt bother me if i had to take it back off. But you can be certain it will seal with a new gasket. to bad u dont live close ive got a several upper gaskets.
I already took off the intake again months back but never thought about replacing the gasket. I replaced it a year before that. I dint know if I had to replace it every time I took it off. I know some gaskets compress.