I have been saying it for years (but no one will listen) that a well designed brake system will keep the fluid dry. Furthermore, even if water gets in the fluid, unless your in the mountains or towing, your not going to boil the fluid. I never bleed my brakes yet have never replaced a caliper. Go figure.
If you keep your car for only a few years this is correct. Why change it? If you keep it for a long time, change it regularly. Your brake system corrodes from within and you can’t see it and one day it will fail you. Mine did and luckily I was in a parking lot. I would have been in deep kimchi had I been on the highway.