Like the OP I do not breed very often, basically when I am ready for another pup and the female has proven to be "worthy" of being bred. That means more to me than just health clearances, she has to meet my performance standards. That said, I have had 3 frozen semen breeding done by surgical implantations. First one was my first field breeding to big name dog. But he was collected when he was older and had problems with using frozen semen. Prostate disease in older males can interfere with the ability to freeze the semen and be potent. There are now newer treatments that can help with that. Also I used a vet fairly close that had studied under one of the masters. No pups, next heat I drove the dog to the stud and got a nice litter. That was that female's only litter. I do not believe in breeding just to prove the female can be bred.
Second breeding different bitch, daughter of the first one. Bred with good timing and procedure done by one of the nationally known repro vets. Poor quality semen, got 2 pups. That was her first breeding, and had 2 more litters naturally with 11 and 6 puppies.
Third frozen breeding, from the last litter of dog #2. Her first breeding tried naturally, had a vaginal band and the stud owner's vet did a side by side, no pregnancy. Decided to try the same stud but was not willing to make the 14 hour one way drive again. Decided to go frozen. I asked for the semen report BEFORE I agreed to have it shipped. Dog was collected when he was 7 but was now 9. Spoke with the collecting vet (well known) and we agreed we would rather have frozen semen from a 7 yr old, then fresh from a 9 yr old. I work closely with a repro Dr in Cleveland and we induced her heat, followed it closely, her progesterone #s were classic, surgery on the correct day and 7 pups.
What I learned from all of this was that proper timing is paramount, but semen quality is just as important. Just because it is stored does not mean it is good quality. Get the semen report from the day it was collected. Spend the $$ and get the right vet to do it, I had to take a day off work to drive to Cleveland and get the procedure done. If I do another one I might consider TCI.
When everything falls into line I think it can be pretty successful, but it must be very detailed and done perfectly. I am fortunate that I can do all my own blood collections and the local human hospital does them for $18 each, I can even hand carry one in on a Sunday and the results are on my fax by the time I get home. Send them to Idexx and the cost is $55 each, ridiculous in my opinion. It is a very serious undertaking and expensive. We all want to think our dog will produce a great dog, but in reality I hope for a significant improvement in my line of dogs. But I have thought about forgetting about all that and spend the $$ on one of those very special and rare breeding. Hard part is getting to know the people who have those litters because you know they are not advertized.
In other words, you need to be ALL IN, or don't do it.