No signs of boot damage or grease leakage, and they weren't making noises before you removed them, they're probably just fine. There are bearing surfaces that can be inspected, but you'll have to disassemble the knuckle and clean off all the grease to see. If you don't want to go all the way, then just test them for lash. Clamp one end and see if you can rotate the other end a little. If you can the CV is probably wearing out. There's probably a spec for how much lash is allowed, but I have no idea what it might be.