Any car with ABS brakes and other features such as traction control and stablility control should have brake fluid changed periodically. Honda recommends every 3 years regardless of miles, and other mfg’s are similar.
Brake fluid “flushing” isn’t the rip off that transmission flushing is, and a brake flush doesn’t cause problems unlike a poorly done transmission flush. You probably should have done it earlier, so sometimes it is good to cave in.