If you race around and brake hard all the time or tow all the time...sure. If you are a normal driver check the fluid if it seems dirty change it. Some people change it every 2 years, some 3 years some when it's dirty. None of them are wrong.
Do what you feel like should be done. It's your truck you know it better than we do. If you want to change it you can do it whenever you want to. You don't have to do it right when replacing your front pads.