Another owner here staying with DOT 3 because of driving pattern, climate and avoiding the need for a fully clean start when changing formulation.
The fluid in the reservoir of my newly-acquired 2015 looked relatively dark compared to my 2012.
Might be partly due to different transparency of the plastic used for the reservoir (USA versus Japan).
Anyway, not knowing when it was last done, I did a gravity bleed/replenishment at the first opportunity.
Took most of a L or U.S. quart to ensure fresh fluid reached all 4 calipers.
On the right is the major part of the bleed. On the left is after the final top off of the reservoir prior to the 1/4 turn tightening up.
(Note that front caliper nipples need a 9mm wrench and the rears an 8mm.)
Drained fluid showed 2% water on a cheap resistance tester, so wasn't quite at the change ASAP point.
Good opportunity to examine tires closely, pick out gravel, clean inside of wheels, apply anti-seize where appropriate, check pads etc.
While doing it I noticed the ABS unit has a grease pencil mark CoG on it (checked out good?).
So presumably had to have an out of warranty repair maybe 5 years ago which might have been last time the fluid got changed.
Could have even been at a dealership - some will source used parts if new unavailable.
Haven't got the impression on this forum that ABS units fail often. More likely to see a problem with sensors or the master cylinder assembly.