I found a metal-body Mityvac at a fleamarket, in good shape, so I snagged that, and do my own. Empty out the master cylinder, refill. Then pull fluid from each corner. Done that on 4 different ABS vehicles now. Using a helper is great, if you have one available, and faster than a Mityvac. Then again, I can give a few pumps, then work on something else for a minute, come back, etc.
I figure, as long as I do every couple of years, then I don't have to worry about getting every drop of old fluid out. Plenty of vehicles out there with ancient fluid in them. With the right tools it's an hour's job, maybe, so doing it once a year isn't that bad, and would ensure "good" fluid is always in the system.