I am sure there can never be found a given year for which the Palantiri were given as gifts, but even if Amandil was quite young, the elves could have foresaw the time when they would come no more, and bestowed the gifts in his name while quite young, or even as a birth present to the parents in his name. Just my speculation. As to how they got to Moddle Earth, they were carried on the ships of the Faithful when Numenor invaded Valinor
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When Elendil fell, Isildur departed to take up the high kingship of his father, and committed the rule of the south in like manner to the son of his brother. He did not relinquish his royalty in Gondor, nor intend that the realm of Elendil should be divided forever.
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