How old are the tires. It is not how much tread they have it is about previous care and age/ Over 5-6 years old you NEED new tires as you do not know how they were cared for. A Catastrophic blowout at highway speed can cost thousands of dollars. So find the DOT date code and determine their age. It is not like a car tire Motor home tires tend to sit and bake in the sun for long periods. This allows the compounds in the tire to deteriorate. Your car gets driven daily and this tends to keep the compounds distributed in the tire.
Brake fluid needs to be changed Yes that is a real maintenance item. As Brake fluid gets old it gets contaminated and the boiling point of the fluid gets lowered. I am including a link to Mercedes website
http://mercedes-benz.custhelp.com/app/answers/detail/a_id/45/~/how-often-should-the-brake-fluid-in-my-mercedes-benz-be-changed%3F
BTW I drive my 1990 3200 miles each way from New York to Arizona every year.
Yes I have experienced problems on the road but it could happen anywhere
Traveling with my best friend my wife!