I have had AGM batteries in our RV for about 8 1/2 years. The first set for 8 years and our current set for 6 months.
I watch their voltage to tell how low their charge is. I turn everything that they power OFF for a few minutes - or at least turn OFF the big current draw items (a compressor type refrigerator is a big current draw item) for a few minutes and then check the voltage they're delivering. It this voltage reads around 12.1 volts, it's time to get them on a charger. Granted this does not tell me their capacity over time, but it tells me not to push them much farther without getting a charger on them pretty soon.
On my first set of AGM batteries that I replaced after 8 years, over time I learned that as the years went by they seemed to run down to around 12.1 volts sooner than they used to. Near their end, the time for them to run down to 12.1 volts was getting too short for me to want to bother with recharging them that often. This was how I kept an eye on their "capacity" once I got used to how they acted as we camped.