Hi Allan
You don't need to update the sitemap if the content has changed but the URL of the page remains the same. The only time I update sitemaps is 1. if there are new pages and 2. if we remove pages. If you don't update the sitemap after you remove a page then you'll get 404s (e.g. a busy e-commerce site when products are sold out and not going to be restocked, you'd remove the page).