Pprovided the brake feel is good, and the moisture content is ok, probably the best reason for paying for the change, (with documentary evidence) , is to avoid giving the manufacturer any wriggle room on a warranty claim for very expensive ABS brake parts.
I remember a very similar conversation with Citroen at the 2 year service point. probably more important for you with a 7 year warranty?
Not sure how fluid in the cylinders and pipework can be changed without actually bleeding and full dismantling, and anyway does just bleeding change the last vestige of contaminated fluid at a wheel cylinder. With older cars IIRC the nipple is at the highest point on the cylinder to allow effective venting of air, so how it changes 'all the fluid' is a bit of a mystery. The most likely corrosion, degradation and moisture entry is probably on the rear cylinders anyway.
I suspect that KIA have to fund the warranty costs somehow, and have decided to shaft the customers in years 4-7? They seem to have a pretty robust policy of charging for diagnostic work to determine if it is a warranty issue.
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KIA Sportage - Brakes Bleed or Not? new