It's very hard to do from an interview process in most places in my experience. The best way (if you haven't worked with them before) is to speak to someone trusted (outside the interview process) who has experience working with or in the team. If you don't know someone with personal experience then (depending on the role/seniority) an option is to try calling a headhunter who isn't involved in the process and ask their perspective.

In an interview the best you can probably do is to pay close attention to how they describe the role and the team, especially non verbal cues. You can try to ask some questions which give some insight (what's the team culture like, what's the worst part about working here, etc) but a lot of interviewers will give non-answers to those sort of questions.

I wish I knew. I just wing it and try to guess from whatever signals I'm picking up. Sadly I don't always get it right.