Routine brake bleeding
These are my first bikes with hydraulic brakes so other than being able to install them successfully, I have no experience with maintenance other than adjusting the calipers and knowing how to replace pads. My wife and I got them 3 years ago (spring 2021) and I built them up with Sram AXS Force 2x with the standard Force hydraulic discs (DOT fluid). So, 3 seasons of use. We have other bikes we ride quite a bit, so I imagine they might have 2,000 miles each, not a lot.
My simple question is: Is there any reason to do routine brake bleeding and/or fluid replacement on DOT brakes if the levers are still firm and the brakes work well? I know that if they get squishy, it's time, but how about routinely in the absence of any issues?
Thanks.