What BobL43 said.
At 19 years they're still within the projected 20-25 year service life for gas-fired furnaces, and many AC systems will last that long too. But almost all ~20 year old systems were oversized for the actual heating & cooling loads, often by 3x or more, to the detriment of both efficiency & comfort.
Old-schooler rules of thumb such as "a ton of cooling for every 500 square feet " or "25-35 BTU of heating per square foot" are literally GUARANTEED to oversize the equipment, which leads to shorter (and sometimes more frequent) on-cycles. Real heating & cooling loads are usually a fraction of that. It's common to see 4, 5, even 6 tons of central AC in homes with only 2 tons of actual peak cooling load. While that allows you to cool the place off more quickly when you come home after work, it often doesn't run enough during the less-warm days to handle the humidity, and you end up alternating between sticky and clammy. It's better to used right-sized equipment and programmable thermostats with not-so-deep set-backs. Similarly when the heating is 2-3x oversized you often end up having to settle with either wide swings in room temp, or short-cycling of the equipment if the hysteresis in the thermostat is set too low. Right-sizing the equipment is always more comfortable, and delivers efficient, comfortable, long on-cycles even with low T-stat hysteresis.
Every good HVAC design starts with a room-by-room and whole-house load calculation (Manual-J or similar). Contractors that offer to do this without prompting (even if it's for a fee) move to the top of your list. A good load-calculation actually takes some time, so getting some compensation for that effort is reasonable. But look out for thumbs on the scale in their calculations, such as using too low a heating design temp or too high a cooling design temp, incorrect window or insulation values, etc. The
99% heating and 1% cooling outside design temps compiled by the ACCA are based on 25 year weather data for those location, and are plenty good enough. Lowering the heating design temp by 10F or increasing the cooling design temp only adds size & cost to the system.
There is inherent margin built in to a Manual-J calculation, so try to avoid upsizing the equipment by more than 15% from those numbers should be avoided, even if it means going 10% lower than the calculated number due to incremental sizing within a manufacturer's line. For VERY well insulated modestly sized houses even the smallest hot air furnaces are oversized. If the heat load calc comes in under 20KBTU/hr at the 99% outside design temp (unlikely, unless it's a small very-tight house) it might be better to go with a different solution, of which there are several.
In any ducted air system the system efficiency depends on the duct design (compliant with Manual-D) and good air sealing. If the ducts aren't sealed with mastic or FSK tape (2" aluminum) at every seam and joint, it's worth sealing as much as you can after the fact. If the ducts run outside of conditioned space (as in an attic, above the insulation) it's worth paying to test the duct leakage and remediate, since any duct leakage outside the pressure boundary of the house inevitably leads to driving pressure differences that drive outdoor air infiltration to levels many times the mere stack-effect or wind-washing drives, adding to the heating & cooling loads.