Brake fluid for [most] cars comes in DoT 3, DoT 4 and DoT 5.1 and these standards came out in that chronological order. They are also forwards compatible (ie if 3 is specified you can use 4, if 4 specified you can use 5.1 but not 3). They are also perfectly compatible and mix fine, but if moving 'up' from 3 to 4 I'd suggest you flush through the whole system (you should do this every 2 to 4 years anyway). **see below**
To complicate matters further, there are more recent variations on the DoT 4 standard. Many manufacturers make their own brand of DoT 4 fluid which has superior properties in some way or other compared to the standard.
If your car has ABS and/or ESP then a low viscosity version of DoT 4 would be recommended (improves responsiveness). There are also long service and cold climate versions.
My car has both ABS and ESP so I use Shell DoT4 ESP, which I change every 2 years. There are many sellers, but I buy mine from Demon Tweeks to ensure I'm getting the genuine product and not some rip-off fake version.
If you do have ABS and you are DIYing, be sure to open the bleed nipples when pushing back the pistons. Do not pump fluid 'backwards' through the ABS system. I use a Gunsons Easi-Bleed kit.
** the pedantic here will point out that where I said [most] cars I forgot to include DoT 5 (DO NOT use this it is a silicon formula) and that some cars like Citroens and Rolls use a special fluid for their active brake systems.
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