I change fluid every 18 months, based on past experience. Brake fluid is very highly hygroscopic and will suck water in from outside air through the plastic bottles it is sold in, and through the plastic fluid reservoir most modern vehicles use. This is why it is NOT recommended to stockpile brake fluid, and why it is a good idea to fully flush the brake system with fresh fluid regularly, and to flush the system before doing any caliper replacement. As moisture is absorbed, the boiling point of the fluid drops. If it drops low enough the fluid boils and you lose your brakes right when you most need them, typically under severe braking with a trailer behind.
After a thorough review of the available products, I have chosen ATE Super Blue and it's functionally identical but tan counterpart, ATE 200, which come in a metal can, and which is compatible with all DOT3 and DOT4 fluids, but which is less prone to moisture absorption than other fluids. It is a bit more expensive, but after an interesting experience with brake fade I am not willing to risk anything less. The nice thing about alternating blue and tan is that you KNOW when you have gotten to the new fluid.