Get comfortable with the wheel, and grab opposite (so your hands are close together, not opposite sides of the hub) parallel pairs of spokes in your hands and flex them until you feel a small shift or fear breaking them. Go around the whole wheel. As you are doing this check the spokes for tension by feel, you are looking for any that are obviously different, and tighten them. Once you are through with that. Check the wheel against something on your bike to see if it is true left right and up and down. Do not use the tire as an idicator just the rim. retrue any wobbles. You should be good to go. The only thing this doesn't check for is absolute tension level though in theory tightening and trueing up from the hand flexes should get you close. You can tune the spokes to a given pitch if you have a guitar tuner, there is a chart on the net for that. But generally, if the wheels are machine built, as most stock wheels are, then the baseline tension is the one thing they might have gotten right. What goes wrong is parts reseat themselves and you have to go back and tighten them, which is one of the things a good hand builder will do for your from the start.
Beyond that, a touring bike is not a stumpjumper. Don't abuse it and it should be fine. If you need a touring bike for offroad abuse, maybe you need to look at a different starting point for the wheels.