Uniformitarian rough estimate is consistent with modern methods like radiometric dating, palaeomagnetic data, etc., which together suggest a date of ~200 million years ago
Kelvin suggested warm rocks deep in mines prove Earth is young; if Earth were old, it would have lost all its heat from the core through its surface to space
Kelvin did not account for hot rock rising through the mantle and warming the crust, nor did he account for heat generated by radioactive decay of uranium (etc.) in the crust [unknown in his time]