The voltage while driving will be mainly from the alternator.
I'd still get it tested because if you have cells that have died or are about to die, it all happens very suddenly and then you do not have a choice as to what battery to get and where from.
Most battery resellers will do a load test free. On my Hiace SBV, I had trouble getting the central locking to work reliably. I took it in to Battery Allsorts here and told them it might be the battery. They did a load test and said the battery was fine (around 5 years old). Next door was an auto electrician who they suggested I see. Well, it turned out to be actuators that were loose and so the operation was not fully locking or unlocking the door. The battery place got nothing for it and the auto electrician charged me something like $40 to diagnose and fix the problem.
So, there are places out there that do the right thing. Oh, the battery lasted at least another 4 years when I traded it on my Caddy.
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