I'm not sure that the P2002 is necessarily caused by the DPF being blocked or cracked. By the sound of it, it's about a successful regen being overdue, for reasons that may include DPF damage, but also other causes preventing regen.
Checking for a cracked DPF:
Wipe the tailpipe. If there's soot, the DPF has been cracked at some point in the past. If the history of the vehicle is unclear, you could wipe the tailpipe clean and check if the soot comes back after a few hundred kilometers.
A grossly cracked DPF will also show as abnormally low differential pressure under load, but I don't think a moderately cracked DPF can be easily distinguished based on pressure alone. At least I would have no idea where to set the threshold.
Checking for blockage:
Monitor the differential pressure at highway speeds. It should increase markedly over idle pressure but not exceed 100 to 150 mbar.
Again, blockage is not necessarily damage as it can also result from the regen not running on schedule. But if the regen does start and then fails with an error about the DPF, or fails to reduce the pressure to healthy values, and especially if the problem recurs shortly after a forced regen, that points to the DPF needing replacement. Note that the ECU will probably not attempt a regen while there are active error codes.