Just as an update, I flushed the brake fluid myself at 35k with the assistance of the Techstream Lite software and VIM. The process is actually quite straightforward, and took about 45 min. The computer prompts you on what/when to do each wheel, and at the end, it makes you adjust the fluid level to a certain level and reinitializes the system 6 times.
The only error I made was that I used a mityvac vacuum bleeder (the large unit, with accessory kit) to do the front two calipers. Immediately after the brake flush, the braking response was more laggy than usual. I suspected that vacuum bleeding introduced air, but the issue went away entirely within several days and before I had a chance to go rebleed them.
So next time, I would probably advise that one should manually bleed each front caliper after vacuum bleeding to ensure that there is no air behind. I may still go back and manually bleed the fronts, but it may not be necessary since everything works just fine again.
For the record, I use 3 bottles of Genuine Honda DOT3 brake fluid ($14 total) since it is an OE grade DOT3 fluid that is likely better than OTC DOT3, and is a brand that is fast-moving stock.