Check whether SOCKS5 proxy server support UDP

Suppose I have UDP server that listen incoming message on 192.168.43.1:1234 and SOCKS5 proxy server that listen on 192.168.43.2:9999. How do I check whether SOCKS5 proxy server support UDP when accessed with a SOCKS5 client? I know that SOCKS5 support UDP, but I just want make sure if it's really supported. I expect UDP server receive message from client and client got reply from server with netcat or similiar tools.