Diagnosing bad clutch

New to the forum, looking for some advice for a 2000 2wd single cab MT 2.7 L. Have always owned a manual transmission Toyota truck. Had a clutch go out on an 86 model, and there was obvious slipping going on. High RPM's no acceleration. For the last few years, after driving on the interstate for more than a couple of hours and coming to a stop, the truck will shudder when coming out of first. No issues after first, and no issues when just driving around town. No other noticeable issues with pedal play, slippage in any gear, leaks, grinding, squealing, etc. Have owned this 2000 since it had 10k miles. Don't want to replace the clutch just because of the trucks age (I will be doing the work). Any fail proof methods to test it before I tear apart my daily driver?

 

Welcome- from here!
If it's been doing that for a while and it's not getting worse, I'd just keep driving until it actually needs replaced

 

Whplsh3, that's kind of been my thought too. However, got some long trips coming up and figured I'd see if there were any additional 'smoking gun' checks I could do.