Go to the website of the manufacturer of your HDDs and you will find utilities in Downloads or Support (example, WD Lifeguard). There are varying degrees of tests and monitoring. The basic SMART monitoring for Windows will be OK for general performance.
You can run tests with those utilities but if you only want to observe, the SMART data is fine. You can only monitor HDD temperature if your drive supports that. Some of the tests will delete all your files so if you run any (like Write 0's with Erase), make sure you understand the consequences.
Slightly tangential, you can also monitor the temperatures of your CPU and MB. You probably have a utility already that can do that (MB software). Otherwise, freeware Speedfan. If you generally have high temperatures you may need to improve case cooling. If this PC has high usage and temperature compared to the other PC, both factors could contribute to HDD failure.