An experienced
surveyor can sometimes get a good idea of the condition of keel bolts by tapping on them. Otherwise, the only way to check them is to put the boat in a sling
lift, with the keel hard on the ground. Block the keel so it can't fall sideways or forward, remove the nuts, and then hoist the boat.
If you do a good job of blocking, so the boat can go right back down on the keel, this can be done quickly. You'll want a big socket wrench with a long handle or a pneumatic driver -- the nuts and bolts have likely become good friends.
Jim