There seems to be no set interval on when to perform a brake fluid change. The only commonality amongst manufactures is that only some of recommend it be done.
Different manufacturers require brake fluid changes at different mileage intervals. In Chevrolet models, brake fluid change is required every 45,000 miles. For Honda models, it's every three years regardless of vehicles mileage. In Volkswagens, the recommended interval is three years. Mercedes-Benz vehicles call for fresh fluid every two years or 20,000 miles. On other manufacturers, there are no recommendations for replacing brake fluid, only instructions to inspect it periodically. I have even found independent garage websites that recommend about 4 years or as needed.
If all the companies are using basically the same fluid, same lines, same components then why is it not the same across all cars? Well the answer is it depends on driving conditions and driving styles. We are all different and as such all need a different interval.
For all of my cars I am overdue by recommendations. WAY overdue but at the same time, all my brakes are in very good shape and the fluids look only slightly darkened. All of the cars in my family fleet stop just as good today as they did new. I picked up a moisture tester and last I checked all of my cars are well below the recommended max moisture content. My Jeep has 108,000 on the original brake fluid, the Audi has at least 60,000 miles on the brake fluid, and the most recent addition, my daughters Chevy Cruze is probably at 80,000 miles on the original fluid. My last 2 cars before the Audi I racked up a combined 366,000 miles between the 2 with no brake fluid changes and no problems.
In over 34 years of driving I have yet to have to replace components because the fluid went bad. I have only changed 3 wheel cylinders in that time frame. 1 was because the fitting broke off in it when changing a rotted line and the other 2 got destroyed taking off the rear drums that were seized onto the center hub. The rotted line was back in the late 1980s and was because my area uses way to much salt on the roadways in the winter time. The car was my very old 1981 Mustang so it was before the time of galvanized steel and adequate undercoating.
BUT with all this being said, you are not wrong to change fluid at whatever interval you feel you need to. And leaving a bit of old fluid in is no big deal as well.
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