I checked with Mike Miller on this recently as my car is coming up on being 7 years old with 5K on it.
As long as the trans and diff was done during break-in service, no need to change.
The oil should be changed yearly - and he recommends yearly on the brake fluid as well (not sure I agree with this part)
So really all you need to do is coolant, brake fluid, and oil. The others don't age per Mike.
You can email him for his lifetime maintenance schedule here:
mikemillerroundelmag@drivewheels.hush.com