Only ways to check the condition would be to measure the voltage across the jump-start terminal and the chassis (easy) or remove the boot floor and measure at the battery. Of course that won't tell you if its close to failing, but if low then its likely that it'll be sulfating if left that way for long periods.
I installed one of those USB outlets that has a volt readout in a blank switch position, so when power up ACC it'll give the battery reading, then when in Ready shows what the 12V regulator from the drive battery is delivering. That will be around 14.5v when initially started to charge the battery and drops down to 13.4-6v when the aux battery has reached charge.