Yes, they may be worn, but they will most likely be well within the wear limits of each item and therefore not require replacing. The only way to tell, is to tear the engine down and measure everything.
Unless you've flogged the guts out of the engine without adequate servicing, you shouldn't have to replace much. The only thing I've replaced on my engine was the timing chain (that was fun
), and that was only as a precautionary measure and not because it really needed it.
19 years old isn't really that old for these type of engines. Yes, some things may need replacing, but things like your cam and rocker arms shouldn't need replacing. I wouldn't be replacing factory items with cheap aftermarket ones if they're within the FSM specs.