Greg, if you can get under the car, here's my test. You can always get the half-shafts to rotate a bit, so I wouldn't let that be an issue. My two reasons to replace are torn boots as noted above. You can actually go a long time with them like this as long as the tear/hole is small as it is more likely you'll just be loosing grease rather than getting a lot of mat'l into the CV joint. Of course, loss of the grease will lead to eventual failure. If it is a bad tear/seperation, I'd get to it real soon.
The second way to tell, is to just grab the half shaft and try to move it up and down close to each CV, while laying underneath the car. Do this with the tire off the ground, and rotate the tire to several locations and repeat the test. If you have one of the four CVs that is worn, it will show some looseness, a good/new CV will not feel loose when you do this test. If you find any that are loose this way, it's time to get it into the shop and get it replaced. In my experience you'll know when one is loose, rather than tight.