If it's a street car, change the fluid when it starts to get dark. You will usually have a few fluid changes in between pad changes. If you haven't done the fluid change in a while, yeah, you should change it after the pad and rotor swap.
23k on a Viper is not low miles. Mine has 5k. 2001. Very good brake fluid is cheap. I'd change it just so you know when new fluid was substituted. Just my humble opinion.
If you change the brake fluid in the reservoir you must also bleed the fluid at each wheel (till clear) otherwise you still have the old fluid in the lines and calipers.
Old fluid has a lower boiling point and your brakes will fade more easily.
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