Hi,
You can read the age on the sidewall: look for the DOT code, the last four digits are the week and year it was made. So 2314 would be week 23 of 2014.
Over ten years old I'd replace them whatever the tread depth, as the rubber hardens and grip in the wet suffers, even if they look fine. Check the spare as well, it's often the oldest tyre on the car.