To customize the liveness/readiness probe frequency and other parameters we need to add liveness/readiness element inside the containers element of the yaml associated with that pod. A simple example of the yaml file is given below :

apiVersion: v1
kind: Pod
metadata:
  name: liveness-exec
spec:
  containers:
  - name: liveness-ex
    image: ubuntu
    args:
    - /bin/sh
    - -c
    - touch /tmp/healthy; sleep 30; rm -rf /tmp/healthy;sleep 600
    livenessProbe:
      exec:
        command:
        - cat
        - /tmp/healthy
      initialDelaySeconds: 5
      periodSeconds: 5

the initialDelaySeconds parameter ensure that liveness probe is checked after 5sec of container start and periodSeconds ensures that it is checked after every 5 sec. For more parameters you can go to link : https://kubernetes.io/docs/tasks/configure-pod-container/configure-liveness-readiness-probes/

You can easily customise the probes failure threshold and the frequency, all parameters are defined here. For example:

      livenessProbe:
        failureThreshold: 3
        httpGet:
          path: /health
          port: 9081
          scheme: HTTP
        initialDelaySeconds: 180
        timeoutSeconds: 10
        periodSeconds: 10
        successThreshold: 1

That probe will run the first time after 3 mins, it will run every 10 seconds and the pod will be restarted after 3 consecutives failures.