Two years is quite a long time, you're right to be worried about it. The recommendation is to clean every 6 months, maximum 1 year, depending on how your tank is doing. If it has a tight seal, it's far from trees and doesn't get dirt getting in, maybe it can go a bit longer, but honestly 2 years is past the point. Stagnant water builds up sediment, algae can grow if light gets in, and bacteria multiply. It's not something to put off.
The most obvious signs are: water with a weird color (kind of yellowish or grayish), bad smell coming from the tap, or you see a layer of sludge at the bottom when you open the tank. Another indicator is if water takes longer to come out of the faucet or when you turn on any tap in the house it comes out cloudy at first. If someone in your household is having strange health problems with no apparent cause (headaches, digestive issues), it could be related too, although that's rarer.
To clean it properly: drain the tank completely, use a brush or even a pressure hose to scrape the bottom and sides, get all that sludge out. Then fill it with water, stir it well, let it sit for a few minutes and drain it again. Repeat that two or three times until the water comes out clear. Some people add a bit of chlorine (like 5 liters of bleach in a thousand-liter tank, for example) before filling everything back up, but you can check that against more technical instructions. After that just let it fill normally and you're done.