I'd say a stiff link although you have already checked for that.
Have you tried slowly back pedalling by hand and watching for a link jumping?yeah that was my initial thought as well but the chain is clean well lubed and every link is free...my money is on the lock ring...sounds aboiut the only thing left i didnt check yet...
In what way is it "worth changing them with every chain / cassette change"? What is the 'business case' for this frequency? Why not more often? Or less often? To what extent does the performance of jockey wheels deteriorate? How do you measure this? Or is this just your arbitrary rule of thumb? Do you change brake cables when the blocks need replacing?
Eleven tooth doesn't have much chain wrap around, so it seems possible that a sprocket this small only works when everything is perfect. Combined with a lot of pedal pressure and a bump in the road, this could be what is allowing a brief skip. You could try adjusting the angle of dangle screw (A in the image below) to try and improve the wrap.I've had something like this for a few months now and have given up trying to solve it. Chain on the big ring and the 11 cog; I give it some beans and very occasionally the chin will skip with a loud crack. I replaced the chain and it didn't cure the problem; I fitted a new cassette and it still wasn't cured. Derailleur is properly adjusted with no clattering and the stop screws adjusted right so I'm defeated. I will borrow my neighbour's alignment tool and check the hanger alignment.