Best practice is to inspect the brake system and lubricate the caliper slide pins once a year or every 25,000 miles if the vehicle is in a salty or high-rust environment, such as Ann Arbor, MI.

Practical guideline

Normal use: service brake calipers (inspect and lubricate) when pads/rotors are replaced.

Heavy rust or road salt: inspect and lubricate once a year, in preparation for winter road conditions.