The reading of a battery voltage as an indication of it's condition is worthless unless a load is applied to the battery.
25 years of experience of testing Sealed Lead Acid batteries has provided a simple and fairly accurate testing proceedure that allows me to ascertain the condition of a battery using discharge rate/time
The discharge load should be approx 5/10% of the batteries capacity i.e 350-700mA for a 7AH battery or 600-1200mA for a 12AH battery etc. etc.
With the load applied and discharging the battery, the battery voltage should be monitored for a period of time up to approx. 30 minutes. If the battery voltage drops below approx 95% of it's nominal voltage within 15 minutes or below approx 90% in 30 minutes then it should be considered that the actual capacity of the battery is not sufficient and the battery should be replaced.
There are a number of automatic testers available that carry out a similar process to the above (and include the effect of ambient temperature) and provide an actual approximate actual battery capacity remaining figure.
BS 5839 part 1 recommends that only batteries with an expected life of at least 4 years, under the conditions for which they are being used, are installed in fire systems and that batteries should be clearly labelled, and where the label can be seen without disturbing the battery, with their date of installation.
BS5839 Part 1 recommends that at every serivce visit the batteries are examined and load tested to ensure that they are in good serviceable condition and not likely to fail before the next service visit.
BS5839 part 1 does not recommend a definite battery replacement schedule based on time in use. I presume this is because it is possible to purchase batteries with longer predicted life cycles than 4/5 years or that suitable operating conditions might allow even 4/5 year life batteries to operate longer.
However it would make sense to replace any battery before the end of the life predicted by it's manufacturer or at 4 years (if predicted life is not known) because I can't see how anyone could say that the batteries were otherwise 'not likely to fail before the next service visit'
Obviously batteries that fail an inspection/test despite being less than the manufacturer's predicted life, should be replaced as a matter of course.