"Does anyone here actually follow Ford's recommendation to replace brake fluid every 2 years in an F53 chassis?"
I do. Use the correct fluid and change it according to the scheduled interval. It's that simple. Some leeway can be given if you live/drive in mostly dry climates.
"At that interval, the fluid is just beginning to change to an orange color."
What makes you think that the color of the fluid is a reliable indicator of the brake fluids suitability for use?
Ever price an ABS unit? You've got at least an 18,000 lb. vehicle. Have you ever seen the damage it will do to a stopped little 2000 lb. Honda car, and its occupant(s), when you hit it from behind at 60 miles per hour? (brakes fade/fail due to vapor lock from too much moisture in the fluid) It's your vehicle, your decision, . . . . . enough said.
Chum lee