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For piece of mind, if the calipers are old or of unknown history as in you bought the car used, just rebuild them with new seals and bleed screws and replace any parts that show wear or damage (pistons, bridge pipes). It's not expensive nor time consuming and then you know what you have.
There really isn't a good on car test beyond checking for leaks and making sure you don't have drag or pulling under braking. Leaks and pulling are obvious. Drag can manifest by pulling while moving, off brake, in a straight line.
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