From what I've read, DOT 3, 4 & 5.1 are glycol based fluid and many of those will say synthetic based fluid, and is either colorless or amber in color by SAE standards and very corrosive to paint, even if you happen to get some on your fingers and touch the paint on your car. They will absorb water over time and should be flushed depending upon use and conditions, usually one to two years.
DOT 5 based fluid is completely different and is silicone based, less moisture absorbent; however, is subject to air absorption and therefore will compress a little more than glycol based fluid which will leave one with a "spongy" or inconsistent brake pedal response. It should be purple in color.
Definitely, one does not mix DOT 5 with the others.
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