Although (like calf muscles) your forearms recover quickly, just work them as often as you do other muscle groups. If you do strength training twice weekly, then train them twice weekly. If you do other exercises such as deadlifts without straps or hooks, you will work the forearm flexors anyway. Save your forearm work until the end of your training session.
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How often you workout your forearms depends on your workout. Just remember that the forearms are used in all your workouts, even legs! (assuming you perform straight-leg deadlifts).