I just replaced all 6 batteries on an R29.
There is no easy way to "test" a deep cycle battery other than using a battery monitor, draw about 10 amps, and wait to see if you can get down to 50% SOC wihle staying above 11.8 volts. It takes several hours to run this test and requires that a battery monitor be installed.
To get the engine battery, the 4 house batteries must be removed. I pulled out the first 2 batteries on the shelf. Then I removed the two screws holding down the starboard tray. Slide the remaining 3 batteries back about 10" so I could get the third, house battery out (the one on the inboard side to expose access to the negative post on the engine battery). Then I could reach the negative post on the engine battery (it has a short lead). disconnected it. Then I was able to pull the tray with the remaining 2 batteries all the way out.
Note: Before moving the shelf (made of starboard), use a sharpie to draw an outline on the two corners. That will help align the holes in the screws back to their original position when you slide the tray back into place. I sat in the port laz, and used my feet to push the battery tray with the batteries back into place. I also use electrical tape over all the connections I remove, to help prevent an accidental short from occuring with all the cables hanging loose.
The new battery also needs 5/16" posts to fit the existing cable lugs on the boat.
For a used boat recently purchased and the batteries are 3 years old, If I had to do the work to replace the engine battery, I'd replace all 5 batteries in the port lazarate. Start this boating season out right.
Assembly is the reverse of disassembly.