請問在此句They've lived here for ten years我應該把hare視為受詞嗎?另外，如果改為They've lived in Taipei for ten years 應該就是單純的S VI句型了吧?

Have 是助動詞，這種型式是have + p.p的現在完成式，They (S) + have lived(V) in Taipei (adv phrase 地點副詞片語)，for ten years(adv phrase 時間副詞片語)，所以是S + Vi句型

here , adv, at this point or place.
eg"-I live here
eg:-I live in Taipei.
eg:-Here it is ---Taipei.
"in Taipei for ten years" is an infinitive phrase follow the subject + vi=they've lived,
"have lived" is in present perfect tense.Here S+VI=S+Vi is used in this pattern