I would replace the brake fluid with fresh, check the pads and replace them if they need it. I see no reason to replace the piston seals if everything is working though. I suppose if you have reason to suspect that the calipers are full of condensate and gel then you could... but factory seals are undoubtedly better than questionable replacements. If you replace, I would try to find real Kaw parts.
Also, 23 years old? Are you talking about the 2012 listed under your username? 10 years old or 23 years old, if the system holds pressure I would not mess with the seals. Fluid should be replaced every two years.
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