How often do you change fluid in you car brakes? NEVER I would say this is something you might consider every ten years or so. I would bet that if they say to do this every two years they are doing that to help the service writers.
Not so, Dot 3 or 4 is hygroscopic (absorbs water) so after a couple of years 2% water can make brake fade a possibility in extreme use. Then you have corrosion of metal parts from the water. Abs parts are expensive and do fail. Cheap insurance to change your fluid every 2-3 years as manufacture recommended. All manufacturers are stretching maintainace intervals but not brake fluid intervals. Mike