We bleed hydraulic brakes to remove air from the lines.
With car and truck brakes, we only bleed them when they have air in the lines.
Is there any benefit in bleeding bicycle brakes, other than removing air from the lines?
Location: Jacksonville, FL, USA
Bleeding of brake lines is for more than removing air/gas from the system. Bleeding is also used for purging the fluid, either in part or in whole (most common), in order to remove any contaminants (debris, moisture) in the the fluid/lines/cylinders, etc. and at the same time avoiding introduction off air into the system while exhanging out fluid. If the fluid has any darkening/discoloration it should be promptly exchanged (complete purge, flush, bleed) since it is visually contanimated, but has already been contanimated before observation. Moisture in the fluid will cause discoloration. Moisture, wearing seals, etc. cause deterioration of a fluid's lubrication ability and alter its boiling point.
Everything stated applies to all hydraulic systems whether on a bike, a car, or heavy equipment.