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I try to bleed my SRAM brakes once a year (DOT fluid) and Shimano every other year (mineral fluid). I once went several years (three or four, can't remember exactly) without rebleeding my XTR brakes; they still worked great but when I finally bled them, the fluid was absolutely disgusting... It shows you that brakes can still work fine even with contaminated fluid, but leaving dirty fluid in there can damage the seals etc. Better safe than sorry, IMO.
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