It's all personal, based on individual experiences. I've had rear diff oil changes at 30k miles that were like pudding coming out on some vehicles, and looked like new oil on others. The nasty vehicles I cut in half (or so, just less till it was acceptable to my eyes), but I always change all fluids at Least once every 3 years, which translates to somewhere in the low 30k mile range for me... except the '66 bug, that's more like 10~12k in 3 years.
Why? Because an ounce of prevention is worth a pound of cure. A hundred bucks in fluids and a couple hours time beats the snot out of the cost of replacement parts AND the time spent fixing, nevermind the downtime and inconvenience of failures at times when the vehicle is needed.
I also change tires Before they hit the TWI's, brake pads Before they start squealing, and toss my fancy battery charger (does repair too) on good batteries a couple times a year. Part of it is the joy of wrenching, part is so my wife can 100% rely on any vehicle at any time without being stranded, part is because I know that maintained vehicles simply operate better and last longer and I want to protect my dollars spent.
But, as I said, it's all personal. My brother-in-law has been letting his wife drive his kids around in a car with bad wheel bearings for 6 months now. You can hear that dang thing Howling from a mile away, just doesn't care... he'll fix it when it fully breaks, something learned from his dad.