Key considerations here: First, the potential problem you have to deal with is your depth of field, that is how much of your view will be in accepatble focus, and then how far you have to swing the camera to recompose, and whether doing that will throw your pre-focused plane out of your acceptable area of focus/depth of field.
The keys for determining your depth of field are your aperture, your closeness to the subject and your focal length. A wide aperture/low f-number, a close subject, and a long focal length all contribute to a "narrow depth of field", meaning that the camera has an increased chance of swinging your focal plane out of the acceptable field.
Many people are happy shooting at a pretty narrow aperture and have no hesitation focusing and recomposing. For each of us, it takes a consideration of the photography you do and a feel of what works for you.
I shoot a lot with off-center points, meaning that it is not a big hassle to focus on a subject using the point that is best positioned for the framing of the subject and only recomposing by a small distance. I wouldn't be so quick if I was just using the center point on, say, a portrait, and then recomposing so that the face was well-framed with the eyes sharply in focus. That's why I use off-center points!
Shooting scenes that are wide/deep and where you want a narrower aperture pretty much makes this a non-issue -- as long as your focus is at a point somewhere in that part of the scene that should turn out good and sharp, you can pretty much take a lot of freedom in recomposing.