Your sentence in the simple past is correct because it happened three years ago. To use the present perfect in this case would be incorrect even if it is relevant in the present because it includes a past period of time.

Never use the present perfect with a past point of time (yesterday, last year, at 10 am etc.) or a past period of time (from 2020 to 2023, for 3 days in the last week, from 10 to 5 yesterday etc.).

I lived in New York for 10 years. (You no longer live there.)

I have lived in New York for 10 years. (You still live there.)

But if you want to say that you lived in the city for 10 years because of which you know well about the city now, you cannot say 'I have lived in New York for 10 years. I know all the places in the city.' You can say the above sentence only if you continue to live there.

For a past experience with a present impact, you can say it without a reference to the past time. 'I have lived in New York. I know all the places in the city.'

Simple present: I read for thirty minutes every day. (a regular action)

Present continuous: I am reading for thirty minutes a day these days. (a temporary action not qualified to become a regular habit yet)

Present perfect: I have read the book for thirty minutes and I find the story very interesting. (an action that started in the past and is still continuing)

Present perfect continuous: I have been reading the book for thirty minutes. (an action that started in the past and continues in the present; a action that just got completed but the effect continues in the present -- I've been reading the book for thirty minutes. That's why I'm able to answer all the questions correctly.)

Simple Past: I read the book for thirty minutes. (a single past action) I read the book for thirty minutes every day. (a past habit)

Past continuous: I was reading the book for thirty minutes every day. (a past habit)

Past perfect: I had read the book for thirty minutes when I suddenly realised it was time to go to bed! (a past action before another past action happened)

Past perfect continuous: I had been reading the book for thirty minutes before I entered the exam hall. (a past action that had been going on till another past action happened)

Simple future: I will read for thirty minutes from tomorrow. (an instant decision about a future action)

Future continuous: I will be reading for thirty minutes from tomorrow. (in the same meaning as the simple future)

Future perfect: I will have read for thirty minutes when the I get off the bus at my stop. (for an action completed before another future action happens)

Future perfect continuous: By 9 pm I will have been reading for thirty minutes. (for an action that has continued for some time and will continue in the future)

Your sentence in the simple past is correct because it happened three years ago. To use the present perfect in this case would be incorrect, even if it is relevant in the present, because it includes a past period of time.

Never use the present perfect with a past point of time (yesterday, last year, at 10 am etc.) or a past period of time (from 2020 to 2023, for 3 days in the last week, from 10 to 5, yesterday etc.).

• I lived in New York for 10 years. (You no longer live there.)

• I have lived in New York for 10 years. (You still live there.)

But if you want to say that you lived in the city for 10 years because of which you know well about the city now, you cannot say 'I have lived in New York for 10 years. I know all the places in the city.' 
You can say the above sentence only if you continue to live there.

For a past experience with a present impact, you can say it without a reference to the past time.

• 'I have lived in New York. I know all the places in the city.'

Simple present: 
I read for thirty minutes every day. (a regular action)

Present continuous: 
I am reading for thirty minutes a day these days. 
(a temporary action not qualified to become a regular habit yet)

Present perfect: 
I have read the book for thirty minutes and I find the story very interesting.
(an action that started in the past and is still continuing)

Present perfect continuous: 
I have been reading the book for thirty minutes.
(an action that started in the past and continues in the present; a action that just got completed but the effect continues in the present — I've been reading the book for thirty minutes. That's why I'm able to answer all the questions correctly.)

Simple Past: 
I read the book for thirty minutes.
(a single past action) 
I read the book for thirty minutes every day. (a past habit)

Past continuous: 
I was reading the book for thirty minutes every day.
(a past habit)

Past perfect: 
I had read the book for thirty minutes when I suddenly realised it was time to go to bed!
(a past action before another past action happened)

Past perfect continuous: 
I had been reading the book for thirty minutes before I entered the exam hall.
(a past action that had been going on till another past action happened)

Simple future: 
I will read for thirty minutes from tomorrow.
(an instant decision about a future action)

Future continuous: 
I will be reading for thirty minutes from tomorrow.
(in the same meaning as the simple future)

Future perfect: 
I will have read for thirty minutes when the I get off the bus at my stop.
(for an action completed before another future action happens)

Future perfect continuous: 
By 9 pm I will have been reading for thirty minutes.
(for an action that has continued for some time and will continue in the future)