How often should I replace the brake fluid?

IT IS a money making 'upsell' to most , but in 12 years at the dealership , I have NEVER replaced an hydraulic brake component for anything other than physical damage like a wreck or curb breaking a control arm off and trashing the rest with it. Accords (older than 2009) and CR-Vs (older than 2007) seem to be the most prone to internal failures when the fluid service is not kept up with.