No, you are correct. Publicly shipping the product that implements the invention starts the clock. But here, the parents claim priority to an application filed in 2004. (That means the invention was disclosed in that earlier application, even if it wasn’t specifically claimed.) When you claim priority like that, your 20 years starts running from the earliest priority date. So the patents expire in 2024.
(Maybe that rule changed with the big changes around first to file and expiration based on application instead of grant date.)