Question about testing your seed words.

I purchased my first physical hardware wallet a few months ago, wrote down the seed words, double checked to make sure I wrote them down correctly, and I've been slowly purchasing a tiny bit of bitcoin every month since. However, I have never actually tested those seed words in anyway. I thought it was proper to NEVER type them in anywhere unless you were actively trying to recover or regenerate a lost/destroyed hardware wallet. But I read recently that it's a good idea to "test" your seed words once before you start moving funds to your hardware wallet.

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Is that true? Should I have tested the words? If so, how should I go about doing that now?