fluids should be changed at least annually imo.
brake fluids pick up moisture, which reduces it's effectiveness and can cause corrosion, pitting, and very undesirable results during a hard stop. Changing it once a year is also a great time to check your brakes for leaks, cracked covers, seals leaking, how much pad is left etc etc.
your fork oil picks up dust and grime from the roads you ride on, can break down, it's viscosity changes and it does not perform well. the ports can get plugged causing further loss of performance. a quick flush / inspection there can give you early warning of issues creeping up on you.
anti freeze / cooling fluids, likewise can pick up contamination that reduces their effectiveness. changing it, and seeing it's condition can give you an indication of your engines health, do you have any leaks starting, head gasket issues etc. excessive corrosion and so on? in our case, inverter motor wear but same principles. also it lets you check for leaks, running out of that will cook your stuff in very short order.
oils in gear boxes can pick up moisture, metal shavings etc which can give you grief, cause foaming, reduce effectiveness. inspecting this lets you check for abnormal wear, indicating potential misalignments or bearing wear. this is something you absolutely want to catch early on before it gives up the ghost. the type of metal you do find, if any is a very good indication of which component is having issues.
so yes, it's your life, your safety, i honestly can't recommend doing this once a year highly enough. if you can't, don't know how, don't have the time, etc, then have someone else do it for you, but this is stuff you really shouldn't be neglecting.
just my thoughts.
Aaron