PR status never expires and can only be renounced or revoked so from that viewpoint as PRs you are still entitled to enter the country.
Having said that if you landed in 2014 then you needed to accumulate 730 days in Canada in the first 5 years. So 2 years out of the first 5 years, after that the 5 years becomes a ‘rolling’ 5 years where you need 2 years out of 5.
Given you landed in 2014 it is likely now that you will fail the residency obligation so any time you try to enter the country there is a possibilty that you might get reported and the process to revoke your PR status might be started. The longer you stay away the odds of this increase although even if you do get reported there is an appeal process.
If you decide to return and are not reported you should plan to stay in the country without leaving at all for 2 years and until you have achieved that you should not renew your PR cards which assume you obtained originally in 2014.