If you have start stop (and you likely do) then this is an easy way to tell - it won't stop if it's regening.
Even if you don't like start stop during general driving try and get into the habit of turning it on when you park up and letting the engine stop itself - the system tracks several things to be confident of being able to operate safely in traffic so it's a really good health indicator as well as useful warning to check the revs to see if it's regening.
If you're parked up it it won't always complete a regen but it wil pause it after about 5 minutes so I always wait for that. Long trips I have a cheap OBD dongle I leave in (not my OBD11 or Carista) and an old phone running VAGDPF to keep an eye on things, I also like to drop the gearbox a couple of notches to load the engine up a bit during a regen - not so much that it helps the regen but it's better for the engine to get hot occasionally. Is it a faff, a little, but I'm planning to run the van long term so...