[Closed Case]

I just did mine on my 2021 right at 30,000 miles. The old fluid did not look bad at all, but I did not check the fluid for moisture. I have a Motive brake bleeder and it wasn't too bad of a job but I did make a big mess, brake fluid everywhere. I used an 8oz glass Coke bottle which has a small base and it kept falling over. Also my clear tubing was old so I had a hard time keeping the tubing on the caliper nipple, I made a mess, lol.

I use ATE Type 200 DOT 4 brake fluid, I got 2L and I used most of it, but not all.

I do not notice a difference in the feel of the brakes. Just regular maintenance that's all.

I have a Motive Brake Bleeder too. I maintain a slew of friends, family and unliked but needy enemies during rust belt maintenance. You can order a complete gasket and clear tube replenishment from Motive.

In manual transmissions you bleed that area first.

Brake fluide attacks water. It's hygroscopic. Your pedal feel can be a couple issues. Water attracted by heat transfer on a heavy pedal foot, mixed with heat and cool down moisture, or the travel of the caliper on the pad sliders get stuck [lack of lube], or worn/over worn pads.

If you live in a area that has huge swings in temperate, winter sub-zero and summers in the touching triple digits, that is call to alarm to change it often then less often. We flush it every spring up here nearing Canada [NY] We also leaned something exciting. We stuck to Subaru OEM wipers and brake pads and never looked back. We're done on bench grinder fittings for pads on calipers and vibrations as the wipers scrape not flow across the windscreen.

Side note: Clay bar your glass. Takes out ever contaminate prior to wiper contact.