I currently have a single Seagate Ironwolf Pro hard drive which I’ve been running in my NAS for about two years. I kind of want to buy two more drives of the same make and capacity and make it a software RAID 5 array. Is that a good idea? Do raid arrays need to have drives of the same age?

Age doesn’t matter but I would be careful about raid 5 these days.
The size of drives means the chance of another drive failing during rebuild is much higher then normal. I would go for raid 6 or raid 1.