The OP had 3 years on thoe mixed budget tyres without much cause for concern. Just time to replace due to wear and condition. Michelin, Yokohama, Continental, Goodyear all very good tyres and ideally best to replace all four in your situation.
When I bought my car it came with Michelin PS3 up front and Nexen N8000 on the rear. Did 4 track sessions, x2 wet & x2 dry and never had an issue. Just drove accordingly both on road and track.