Walt is correct. There can be several failure modes. In either case there will be vibration. The joint could simply wear out (the crosses become unround). In this case you could grab each side with your hands and feel some slack; none is allowed. A second failure, preceding the first, would be lack of lubrication, which would simply give a tight spot, felt as a vibration. All this assumes the joint was properly assembled to begin with.
You can calculate the number of turns a u-joint will make at any given speed, and then using a lawn mower reed tachometer, measure the vibration frequency to see if it is the joint or something else. Lot easier though just to crawl under and look for slack.