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I don't think I would based on what you just said. Since you have no current problem with the pedal and presuming you do not see moisture in the master cylinder there isn't any reason to have to change the fluid. Hydraulic (Brake) fluid doesn't go bad. I can't imagine anyone has had the lid to the master cylinder off for any length of time to allow dirt in, so what you see as looking a bit dirty may only be looking into the blackness of the fluid. Bleeding the lines itself, especially since you have no air in the lines, is a fairly easy job for two people, even if 1 is a complete novice and only operates the brake pedal. The person on the bleed screw must be very explicit and tell the pedal man never let up on the pedal until "I" tell you it's ok, because you could suck air into the lines from the bleed screw. So open the screw when the person presses the pedal, let fluid squirt out by opening the screw and then close the screw and tell the pedal(er) to let up and pump the pedal a few times and start over with the bleed screw. I would first consider where the car has lived before trying to break the bleed screws loose. If it's been in the snow, ice, and salt you run a very high risk of breaking the bleed screw(s) off and then you'll need to be good at using easy outs, or you'll be at the service station paying them. All in all, I wouldn't do it in your case.
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