You can find out if they are talking by troubleshooting. See if they are responding to each other. You have to figure out under what circumstances the devices should talk to each other to produce some response, then create that condition and look for the response. You may have to read some datasheets, if the result is not obvious or if you suspect some error.
Or you can use a logic analyzer with I2C protocol to monitor the bus and see what communication is occurring by individual address.
Depending how much "verification" you need, you can use any logic analyzer or a digital scope to verify that there is at least some communication. But you'll have to work out the addresses and instructions yourself.
You should probably have listed what is the problem or suspected problem. Or w/e is your goal.