I had an Acura on which this was not done for 10 years or more. The brake fluid had something happen to it which was associated with many seals in the system going bad. There were visible particles in the fluid. Calipers started sticking repeatedly - this is how I became aware of the issue. Replacing 3 calipers and master cylinder along with lots of flushing cured the problem - sort of. That car did not have ABS. It might have been a nightmare if it did. I recently bought a 7 year old car with ABS. The brake fluid had no particles nor were there brake problems but the fluid was much darker than any new fluid I've ever seen. I presumed it had never been replaced so I did. I would replace the brake fluid about every 3 or 4 years on any car.