I would like to know if there's a way to tell by the way the car is driving whether one of the callipers is sticking. Are there any tell signs ? e.g. different pedal feel etc.
I know one of the signs for a dragging brake scenerio would be uneven rotor/brake pads on each side of the car.
but without opening up the wheels, is there another way to figure this out ?

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Whether you think you can or cannot, Either way you're right!. by Henry Ford.

Will the car roll easily on a slight incline? Does it pull when coasting?

Check for excess heat on one side relative to its opposite side after normal driving. Also, if one or both rears are excessively hot, it could be the parking brake adjustment.

The parking brake consists of two small shoes on each rear side that contact the rotor hat section.

Duke

One way to check is to take your hands off the wheel while braking on a level road. The car should stay straight. If it consistently drifts to one side, then you have a sticky caliper.

What problems are you having, and when was the last time your calipers and brake fluid were serviced?

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95 E320 Cabriolet, 159K

You may be able to put a hand on the center of the wheel, and compare the temperature feel to the wheel on the other side.

It's better to jack it up, and spin the wheels by hand, then apply the brakes hard, and try again.

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1986 300E 5-Speed 240k mi.