The Dexter manual is clear on all this. you need to inspect your brakes annually or every 12,000 miles. So you have to take the hubs off. That gives you the chance to do the bearings too. As stated above, you can't check them for spalling unless they are cleaned of grease first. Then you repack them with new grease and do all the stuff it says in the manual (or have it done--I can't do that work myself, no clue.) Now you are good to go till next time.
The brakes can rust out even (or especially when) sitting parked because of air holes they have that let moisture in (as Dexter tech rep explained) so even with no miles you still have that annually time rule.
Make sure you use the right grease with correct "viscosity index". First time I had it done to the 5er, the shop used a grease (something 707) that was in the Dexter manual but had the wrong index. Later, I called Dexter on that, and they said "Oops", and changed their manual (about 10 years ago)
The grease zerks on an RV are some sort of sales gimmick. According to Dexter's requirement for manual repacking, there is no reason to fit them, but Dexter does. Makes no sense.
While you are at it get them to check your equalizers. The bolts wear through the holes they go through in no time--can happen in 10,000 miles even, and you are past that by a bunch.