10 years ago I was diagnosed by the VA as having prostate cancer from being exposed to Agent Orange. With prompt treatment, that cancer was stopped. At my semi-annual check-up last month, my PSA is going up again, so we have to continue to monitor that. The cancer may be returning.
My advice: If you were exposed to AO, get tested now! That includes ALL those who served in the Vietnam region.

There are more routes of exposure than just Vietnam service. Check the VA website for other areas

Roughly 300,000 Vietnam veterans have died as a result of exposure to Agent Orange, a herbicide used by the U.S. military during the Vietnam War. This figure is significantly higher than the approximately 58,000 + who died in combat during the conflict. The long-term health effects of Agent Orange exposure include various cancers, neurological disorders, heart disease, cancer, and other serious health issues, which have led to these high mortality rates among veterans.

https://www.veterans.nd.gov/news/agent-orange-its-affecting-veterans-and-their-kids