  Late-time ($\sim$ year) radio follow-up of optically-discovered tidal
disruption events (TDEs) is increasingly resulting in detections at radio
wavelengths, and there is growing evidence for this late-time radio activity to
be common to the broad class of sub-relativistic TDEs. Detailed studies of some
of these TDEs at radio wavelengths are also challenging the existing models for
radio emission. Using all-sky multi-epoch data from the Australian Square
Kilometre Array Pathfinder (ASKAP), taken as a part of the Rapid ASKAP
Continuum Survey (RACS), we searched for radio counterparts to a sample of
optically-discovered TDEs. We detected late-time emission at RACS frequencies
(742-1032\,MHz) in five TDEs, reporting the independent discovery of radio
emission from TDE AT2019ahk and extending the time baseline out to almost
3000\,days for some events. Overall, we find that at least $22^{+15}_{-11}$\%
of the population of optically-discovered TDEs has detectable radio emission in
the RACS survey, while also noting that the true fraction can be higher given
the limited cadence (2 epochs separated by $\sim 3\,$ years) of the survey.
Finally, we project that the ongoing higher-cadence ($\sim 2$\,months) ASKAP
Variable and Slow Transients (VAST) survey can detect $\sim 20$ TDEs in its
operational span (4\,yrs), given the current rate from optical surveys.
