Is there a way to know if we have anemia without visiting the doctor and doing tests?

Not really. Anemia is defined as a low blood count. You might suspect you are anemic, but a blood count is required to be sure.
Not for sure. Measures of hemoglobin and hematocrit, the size of red blood cells, iron binding capacity, etc are the most reliable ways to assess possible anemia. Anemia symptoms include fatigue, breathlessness on moderate activity, and paleness in the gums, palmar creases, and conjunctivae -- but are only hints which can't confirm it. If present, anemia needs to be fully investigated & its cause treated.