I am a single cat household so I shouldn't answer but I am anyway!

I scoop when I smell a fresh poo. Which is usually right after she does it b/c she doesn't cover it. And I change the litter box completely every week the day before garbage day. I use litter liners so it takes about 10 minutes.
Currently using Feline Pine that I don't like and am trying Premium Scoopable litter that a lot of my multi cat PT friends suggested.