Different car makes and models will have different servicing requirements and it’s a good idea to check the manual or the manufacturer’s online advice.
Makers often recommend services at fixed mileages or every year, whichever comes first. It’s done this way for a reason, because even if you haven’t driven anywhere near the mileage quoted, your vehicle’s components can still degrade and lose efficiency through age alone.
Not only that, a lower-than-average mileage often indicates a lot of short journeys, and these cause disproportionate wear and tear which makes an annual service all the more important.