Having been in a similar situation in early December of last year - considering a used PHEV and wondering about the HV battery, I'll share what I learned (long).
Without driving: first charge it to 100% on preferably a level 2 (3.5 kW @ 240V for this car) charger. Power on the car, turn off the HVAC if possible and note the estimated EV miles. Up through 2022, at 99-100% charge it should say 26. With HVAC on - even just the fan, it will show 24. That's a basic indication the HV battery is in good shape. If it doesn't charge to an indicated 26 miles, it's probably degraded some.
Second and better, a drive test: charge it fully and reset the trip meter. Then go drive it around in the default EV mode - don't floor the accelerator either, until the car switches into HEV mode. The engine may not immediately start if you're going relatively slow, like 20 mph or so. Note the trip meter miles traveled when "HEV" displays in the car mode. In mine that's usually 16-18% HV charge level, and 0 miles EV range remaining. For many or most people the miles traveled at this point exceeds 26. On an early test drive mine made 25 on a metro 65-70 mph highway with many small hills - not super, but enough for me to buy it. After a couple level 2 charge cycles at home and on a combo of in town stop-and-go + some 55 mph highway driving, it now reliably goes 29-31 miles on EV. I've read of other people getting more than this, perhaps with a stronger battery. If it goes at least 26 miles on anything but a high speed highway run, I'd say your HV battery is in good shape.
Third, when I posed this question of a dealer's service manager - how to know/test, they only offered: if the HV gauge on the left consistently charges to 100% and doesn't ever go much below the white 20% or so bottom range, all is good. I don't trust that answer much. Perhaps they've seen cars with a failing HV battery and e.g. they wouldn't charge to 100%.
Last, when attaching a bluetooth ELM reader and phone app (I use Torque Pro) to the OBD port and a Kia plugin for Torque, quite a bit more battery detail became available. It does seem to have some degradation info. I saw 20 or 25% degradation level appearing to be the level when the car would throw a "hybrid battery weak" error... but not what the current degradation was. There was also a curious state of charge percentage showing 95-96% when indicated as 100% on the dash. I don't know exactly what that meant. Anyway, I poked around with this at first, and haven't spent any more time on it because I'm satisfied my HV battery is in decent shape.