High quality lights such as SureFires are nicely sealed and their electrical connections are good/safe enough that you shouldn't have much to worry about from the light itself. Perhaps more importantly, most **QUALITY** CR123 primaries have a shelf life of ~10 years... not only are they safe to leave in a light but they will actually retain a majority of their charge for about a decade. Of course there are certain conditions that can speed up the loss of battery charge even in 123s: extreme temperatures can, but I would only worry about damage if the lights/batts are consistently exposed to temps well exceeding 100 degrees F over extended periods of time. Constant exposure to very high humidity can cause water buildup in some cases but in a sealed package (not to mention the aforementioned quality seals on SF lights themselves) I wouldn't worry about humidity unless you plan on fully submersing them in water. Also, don't light them on fire! lol
If your lights were out of their packages, or if the packages had been opened (and thus permanently damaged) and the lights put back in, I would recommend replacing the batteries even if unused after a few years just because it takes 5 seconds and there's no reason to push the life of their charge all the way down. But since you said they're NIB/unopened and I assume you wish for them to stay that way to retain the value of lights as such, I wouldn't worry about it. Honestly, with SureFire batteries being of quality manufacture you could most likely leave them in there indefinitely and eventually they'd simply die without damage... it's never 100% guaranteed of course, but I'd feel comfortable doing it myself.
To put it simply:
quality lights + quality batteries + proper storage - extreme conditions = it's all good