Forks needing maintenance are subtle, its hard to tell if they need looking over, however some of the signs are:
Forks bottoming out too easy
Front end feeling wobbly, loose, uneasy in corners
Sucking or squishy sounds when compressing forks
Sticking or stiction in fork travel
Fork seal leaks
With the exception of the leak, these symptoms are subtle, and have a gradual onset so its easy to mistake them for normal operation (its one of the main reasons new bikes seem to handle better than old ones)
Fork oil is supposed to be changed every 2 years anyway. I bet yours are still on their original fill, and when you change the oil, it will be quite dirty, I even had some rust on parts inside my bandit forks.
If in any doubt, I would recommend changing out the fork oil asap.
The job is not difficult, but you will need to pull the forks off the bike, there is no drain bolt, and to set the oil level properly the forks have to be vertical with the springs out.
The reward: a much better handling bike.
EF