This. Brake fluid isn't only about air in the lines (mushy feeling), it's also about protecting the brakes. Moisture leads to rust and corrosion, brake fluid being hygroscopic is to help prevent that. Moisture content can not be accurately observed by color.I've found not changing the fluid can lead to corrosion in the calibers.
That being said, factory manual says first brake fluid change doesn't need to happen until 3 years, then every 2 thereafter.