Generally use a DOT-4. Castrol LMA, ATE, whatever. I like using the ATE Superblue - easier to tell when the flush is complete.
The owner's manual on my Volvo and MB are very clear: every 2 years, or every year if driven in the mountains.
I flush the brakes on my cars every 2 years. Fluid is cheap, ABS modules, calipers, master cylinders are expensive. An EZ bleed power bleeder makes it simple - less than 30 minutes and no "honey, can you come sit in the car and pump the pedal?" routine...