Quickest way to check if they work properly is to hit something large, heavy and unyielding (no not my mother-in-law.)
Seriously though, I wondered the same thing a while back. Outside of what
TheDurk already mentioned above, I didn't find anything else to do really other than just hope they work if I ever need them.
I've taken the driver side airbag out and inspected the whole thing along with the connections. All looked good to me but I'm no expert on the subject so I was just looking for obvious signs of age/damage or lose connections.
Basically I just consider my truck a "classic" vehicle that doesn't have airbags. Much like any vintage automobile from the 80s on back.
From all my travels in junk yards looking at 3rd gen 4Runners, most of the trucks I see with heavy front end damage usually have deployed airbags – but every now and then I'll see one where the airbags didn't deploy in what otherwise "appears" to be a collision that would warrant airbag deployment.
We roll the dice and take our chances I guess.