I wouldn't worry about it. If it drives fine, can pickup the 3pt with a load, and makes no weird noises, you are probably OK. Last resort is to double-check the operating pressures.
Generally hydraulic fluid isn't suddenly going to go bad. Where it gets problematic is when the fluid gets low enough to cause cavitation to the pump. At this point it is usually beyond the point of just filling it up and not having issues.
There are farmers around here that will go way beyond the "recommended" trans/hydraulic fluid swap, or like in your case, never changed it and of course never have problems. I've helped on plenty of farms, and lots of guys just wait until the machine needs some service then they deal with it.
If it were my machine, since I read the manual, and a tractor isn't something I can afford to replace or work on due to user error, I stick to the expert guide on fluid swaps, that is conveniently listed in the owners manual -- even if it seems unnecessary or wasteful.