It really depends on the HDD failure. If you have the spindle failure (at least one disk separates from the axle even a bit), nobody can recover the data. If you have head touching the disk, the head is destroyed and the are of the disk that the head touched is destroyed and recovering any data from the rest of the drive will require head swap in a clean room laboratory by a skilled engineer. If bearing fails, all the data is lost etc.

It’s true that the most common failure mode of HDD is PCB failure which is typically pretty cheap to deal with because you don’t need a clean room for data recovery. You still need some soldering and a working donor board. With SSD, the PCB failure is the only possible failure mode so it should have at least equal lifetime unless there’s a software bug (in drive firmware).

SSDs have multiple failure modes, too, so you shouldn’t trust that neither SSD nor HDD fail without losing all data at once. Sometimes SSD fail into read-only mode so you can still read all the data but you cannot write anything on the drive.

And if your oldest drive has 23500 hours, you’re just too young or lucky. I have a HDD with about 24000 hours which failed and another HDD with 52136 hours that’s still working fine. And all my SSDs are also working fine.

Always keep backups and remember that you cannot expect to keep a piece of data unless you have at least three copies of it with one of the copies in offline storage. For non-important data, lesser amount of copies may be okay if you’re willing to lose the data if you’re unlucky.