You can't really "test" brake fluid, your just have to periodically replace it.
Every 2 years is reasonable, or before the new track season kicks off.
As others have mentioned, brake fluid is hygroscopic, which means it absorbs H2O out of the air, over time.
That matters when too much absorbed moisture is pooled near the brake calipers, as water will boil faster than brake fluid, and turn into vapor as calipers heat up. Vapor compresses freely, allowing the brake pedal to hit the floor without moving the calipers, instead of clamping onto the rotors, and slowing the car down. Brown spots in underwear will soon follow.
To "test" the brake fluid next to the caliper you need to bleed it out, by which point you've just replaced your brake fluid.
The recommendation to "test" brake fluid is asinine, and is the result of having software engineers right maintenance recommendation for mechanical systems they don't understand.
Coolant is not a mileage driven maintenance item, but fluid decay / time driven process.
I've followed "old school" maintenance schedule for about 30 years. Mike Miller, of Roundel fame, keeps a pretty exhaustive list of items you would want to maintain to keep your car running forever. Skip the ICE-related bits, and consider the filter/fluid maintenance schedule as per the following:
https://www.1addicts.com/forums/attachment.php?attachmentid=1461518&d=1469006598
AWD has no effect on the difference in front/rear axle tire wear characteristics.
The two are aligned differently, have different camber, and develop different wear patterns.
Rotating tires front<-> back will prolong the life of the tires, if that's important to you. Easy to DIY in under 30 mins.
YMMV,
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