I even still take Advil that's 2 years expired.
Asprin and Ibuprofen are relatively safe and stable.
But, Paracetamol / Acetaminophen typically only has a shelf life of two years and after this can have an upredicatable dose.
Since it's a reasonably nasty overdoze risk anyway (especially with a few drinks or a compromised liver) it's probably the OTC med I would throw out at the date.