Mind you my daughter is only 4.5, but no, when she's with dad or grandparents I don't have her check in. She's so attached to me, I thought it better she just be in the moment with them. That said, she only ever does over-nights and VERY rarely. I'm thinking about doing a weekend away and may call her because I miss her, but at this age, I'd text first to see if its a good time to interrupt her play. If anything is amiss, I'd receive a call or text. I want her to feel confident in and supported by dad and grandparents. If I had her check in, I wonder if she'd get the impression (or confirmation) that I really should be there.
Later on, with friends, I would DEFINITELY have her call! :-)