Keep in mind that the biggest killer of hydraulic fluid is heat, followed by fluid contamination. As there is very heat produced in a seastar steering circuit, I would not change it for that reason. Contamination is another story. You can get contamination with poor filling and bleeding techniques, internal wear and perhaps water ingress especially if you get raw water covering the steering cylinder when boating. The easiest way to check your fluid condition is to bleed a little off into a small jar through the bleed fittings on the cylinder. Compare this to some fluid out of a new container. A darker colour would indicate comtamination to some degree. If the fluid is the same colour as in a new container, just top it up.