Measuring specific gravity can tell you when fermentation has finished, but after several years you can already be quite confident that it has! SG measurements are of no use at all in determining if the product is safe to drink.
The good news is that cider is quite low pH and contains a fair amount of alcohol, so it's not friendly to many pathogens.
If the airlock ran dry, allowing significant oxygen ingress, you will likely find the product has undergone another fermentation process and turned to vinegar. An aerobic (oxygen-requiring) family of microbes called Acetobacter will convert ethanol to acetic acid if enough oxygen is present.
If the product has escaped oxygen ingress, has dropped clear, and doesn't have have a pellicle on the surface or any sign of mould, it is quite likely to be OK. Probably somewhat oxygen damaged as an airlock and bung are not 100% effective at excluding permeation, but drinkable.
If the product had been stored in glass carboys with a proper lid I would be very confident that it would be in good condition.
Your best tool here is your nose, and if your nose leaves you confident, your sense of taste.