Well, I'll post my experience and you can take what you want.
In the beginning, after spending $3,200 on the bot, I didn't want to take any chances, and was purchasing new blades. Then after reading about using a scissor sharpener, I decided to give it a try.
Now, after having ripped these motors down and rebuilt them myself enough times, here is my feeling. My blade motor had no "out of the norm" issues with sharpening and has been running great since I replaced the brushes. There is no real way to say if my brushes wore out premature (they were 3 years old, if I remember correct) and if they did, what caused it.
When it comes to blade balance, the obvious answer is going to be that they should be balanced. But, if you consider the amount of metal being removed when sharpening vs. the amount of the balance change for.. say, a chip or grass, all of our bots would be falling apart due to blades being unbalanced. If you consider the environment that these motors are operating in, a few swipes of a scissor sharpener on each blade shouldn't have much, if any, impact on the blades balance.
Now, at the same time, a razor sharp blade that you could shave with is going to reduce the stress on the motor cutting the grass... but, we're talking about grass here. As long as the blade isn't tearing the tips off, and is actually cutting them, I think your blade is sharp enough. From what I've seen, several swipes across the blade to sharpen it is sufficient. I have 4 spares that I keep sharpened and ready to go, only because I didn't throw them out when replacing them the first year.
But, if you are worried about it, do like yyzdnl said and get a balancer.