Brake fluid is supposed to be R&R'd every two years; you could get that done.
As for having the dlr do a 'thorough inspection' hoping they will find things to 'fix' is slim to none, and Slim's on the bus. Most dlrs will not do a non-scheduled inspection, or volunteer to repair items that may be 'old' or close to failing. If something fails/doesn't work they will, but there is really no preventive inspection you can push for, IIRC.
An alternative play would be to hit a knowledgeable, trusted BMW Indie and pay them for a thorough going over, and if they find something, bring it up to the dlr, while still under warranty...but, that all, is a pia.
Good advice on the brakes, and you may get lucky with that.
GL, mD
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