I am afraid we are all guilty of on occasions failing to test, we know we should, and I remember with some water damage the electrician sent by insurance company did test, although he did not record the results.
But where everything seems to be done correctly, I am sure many assume that earth wire is connected to earth, until some one gets a tingle, and I remember trying to trace a loss of earth connections in a house on the Falklands and in the end came to the conclusion there was some junction in the loft and no access to the loft.
So it is down to risk assessment. Or are you willing to take a chance that the earth is connected?
Basic to methods, one is with a low ohm meter, the idea is at least 200 mA is run through the earth wire, and in real terms a 12 volt battery and a head light bulb will show if the earth is good enough to trip an RCD, the earth could be 100Ω and the RCD would still trip, but with a B6 MCB the B means 5 times for the magnetic bit, so 5 x 6 = 30 amp, ohms law 230/30 = 7.6Ω add 5% for safety so 7.28Ω and the question is how would you measure that?
It can be done, but not easy.