DOT3/4/5.1 fluids are all typically compatible, however the fluid manufacturers will usually warn you not to mix higher grade fluids with lower grade fluids since it will compromise the temperature rating of the fluids to something in between the two. Dont' get met wrong, it will still be higher than the DOT3 rating, just not at the DOT4 level if you mix the two.
DOT3/4 fluids are readily available everywhere, so I'd suggest running the higher grade of the two and calling it a day if you mostly just see street use. A normal bleed/flush is never a bad thing and should be done at least every 2 years to keep the fluid fresh and remove water from the system.
If you're tracking the car, you could possibly benefit from DOT 5.1 fluids, however the added expense and lesser availability is a drawback for some. There's not a lot of need to run 5.1 if you don't fade the brakes with DOT3 or 4 fluids as it doesn't gain you anything except maybe piece of mind (and possibly a little better pedal feel depending on the compressibility factor of the fluid).
Tobin
KORE3
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