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If you are not sure about the last date when the brake fluid has been change, I would suggest it is about time to change it or have it changed.
Not only the brake fluid absorbs water over time (which makes it dangerous in case of intensive breaking - water boils - pedal softens - cars does not break) but there are also particles of worn-out hoses in it that may potentially clog the brake lines.
It is one of the cheapest operations in the whole car maintenance (even if performed by certified Toyota car service) yet one of the most important in terms of security.
Just make sure it really is changed properly (not just sucking the reservoir out and filling it in but also opening all valves for all wheels+clutch and bleeding out the old fluid).
Once done you can forget about the brake fluid for 2-3 years (the generic recommendation is to change it yearly, however my fluid after 3 years is in perfect shape, both visually and water-meter-wise.
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