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Is there a recommended way to see which agents are running and their health from the Cloud UI?

pretty sure there isn't. But, work queues will get marked as unhealthy if they haven't been pinged by an agent for a specified time

(I don't work at prefect, just have been learning how to use it over the last few weeks)

They will also be marked as unhealthy if there are late runs for any reason, which can still happen even if the agent is up.

You can see the health of the work queues either from the UI or from the REST API