Should I refinance my 6.75% mortgage?

I owe $ 80000 and zillow estimate is now $ 80000. I do not pay PMI because I put 20% down when I bought the home. There are about 23 years left on the loan, but I do pay additional principle (hence 23 years left and not 25). Factoring in PMI, could someone give me a quick estimate on how long I would need to live here to realize any remortgage savings.

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