most manufacturers don't have an interval. it is normally recommended that it be inspected at certain intervals. the expectation is that it will get changed if it fails an inspection, either visual inspection for contamination, or chemical inspection for ph.
mercedes and subaru are the two that stand out in my mind for change intervals.
i would say, either every 30k or whenever brake pads are changed. when brake pads wear too low, the caliper piston pushes out too far and allows water into the brake hydraulics. water interferes with the proper operation of the brakes, it causes corrosion of the lines from the inside out, it corrodes the internals of abs motor and pump assemblies, and it boils in the caliper when hot, creating steam which pushes brake fluid out of the caliper, preventing closure.
water can also enter through rubber brake hoses because rubber is porous and the glycols in brake fluid are like a magnet for water.