The penny test is pointless and obsolete. Forget you ever heard about it.
Wear bears are a much better indication, and don't depend on the measurement technique on curved-bottom grooves.
Even then, common sense should prevail. If you have snow or heavy rain, replace before down to the wear bars.
If you really care, digital depth gauges are now really inexpensive, well under $10. They have a better chance of measuring the center of the groove, and are easier to read. Plus they are very useful for measuring other things.