When to change rubber hoses?

The rule of thumb I have always seen for rubber coolant hoses in cars is to change them every 10 years. However that probably dates back to the 1950s or earlier and so may not be appropriate for cars built later. At what age do Prius (coolant) hoses become old enough that they should be replaced preemptively?

As far as I can tell none of the hoses have ever been changed on our 2007, so the answer is of some interest to me. I also don't know how old the mechanical water pump is. The records from before I owned the car contain a couple of "changed water pump" entries, but on this car that could be any of several pumps, and at least one and maybe two of those would have been the inverter pump.