I've done it on other bikes but not a Brompton. Yes, it's better to do it than wait for the grease to run out or get contaminated and have an annoying failure (my worst was a prematurely corroded cage falling to bits and jamming the wheel, bringing me to a skidding halt and carrying the bike 3 miles home).
Plenty of videos of dismantling and regreasing on youtube, but you may not have the thin cone spanners needed to do it yourself, although they're not expensive. I prefer loose balls (
@Fnaar 
) since my cage collapse incident. While you've got the bearings out, you can look at them and if you see any corrosion/wear, replace them with fresh ones.
More and more bikes take sealed cartridge bearings but I don't understand how I'd inspect such things for wear, so I'd probably be replacing them just-in-case too often. I guess that's good for sales, but it's nice to read that Brompton are still using serviceable bearings.