I do it every 2-3 years, and/or when I replace pads/shoes.
My dad never did it, but I recall having to replace 2 master cylinders and two calipers while growing up.
turkey baster probably helps some but doesn't really get new fluid where it needs to be, which is in the lower portions of the system--- the calipers/pistons. that's where the real yuck comes out. but as easy as it is to do, it's not on my all-time-favorite list of maintenance items. the fluid is messy, etas paint, etc., often requires wheel removal (depending on which car). IDK if absorbed moisture pools at the bottom or distributes evenly.... lots of folks thing that it does, but I've never really seen any evidence of that--- but the stuff in the bottom certainly collects *something*, as it's always dark, yucky...