I think MikeT's statement here is VERY important, and I have changed my fluid last year at approx 18K miles, and I will this Spring at 25K.
Nothing is for certain here....we all know the problem is with the pistons sticking due to expanding due to moisture intrusion, and the BEST WAY (at this time, the only way) to avoid a possible brake failure is to change the fluid.
I did buy some "Speedbleeders" to install on my unit in the Spring, for future fluid changes. If you would like info on these, PM me, as I am not interested in promoting his advertising on another site.
I think MikeT has given some good advise about this fluid changes, and while he might not be able to help with the re-imbursement issues some are having with Workhorse, at least he hasn't called those owners/forum members "Jerry Springer Fans"!