No, brake fluid just doesn't hang there. So, there is definitely a benefit to siphon/refilling the master cylinder. The BF doesn't circulate in a loop, but it definitely travels back and forth throughout the entire system constantly mixing.
I prefer yearly brake bleeds. And, when lazy, I wouldn't go more than 2 years.
Just doing what any manufacturer says doesn't guaranty optimum life. Most automaker recommendations are border line abusive and can cause issues for anyone that keeps vehicles longer than a car payment.
A siphon/refill of the PSF at every oil change is a good start. Because said vehicle has 30k miles, I consider several siphon/refills over several days to get some fresh fluid in there, and then continue with some time or mileage based interval.