Tires should generally be replaced when the tread depth falls below 1.6 mm, which is the legal limit in many regions, though replacing them at around 3 mm tread depth is safer for wet conditions. Additionally, tires should be replaced at least every 10 years due to aging rubber hardening, even if the tread looks fine. Regular inspection for uneven wear, cracks, bulges, punctures, or other damage is also essential for determining if replacement is needed sooner. Proper maintenance like regular pressure checks, tire rotations, and alignment can extend tire life but do not eliminate the need for replacement based on tread wear and age.