OP's parents also have a valid PR card, the only difference is they breach RO. But still, their expiry is in July, if coming not that close, I think it's the same like me. I didn't entering Canada for more than 2 years. From the time my stay in Canada, I break RO too. But I stay with my citizen spouse. I don't think the machine is that smart to make a check just depend on the record of the cardYour situation is different though, correct? You have a valid PR Card, which is probably why CBSA didn't send you to Secondary.
Surprised to read (in one of your other posts) that the airline did not ask to see your PR Card to board the flight from SFO.