Here in southern Illinois our local FS dealer does soil tests for $5.00. Check around and see if somewhere there provides this service. It is well worth the $5.00 to have the test done.

why are people telling you to test your soil?
are you having problems with your plants?
If so, is the problem affecting all beds?

I have not done a soil test in my raised beds, because I know where the original soil came from.

Personally, I jsut top off my beds with fresh (homemade) compost each year. For certain plants, like my hot peppers, I'll add fertilizers and amendments sspecific for their needs.

Soil tests will tell you about your soils pH as well as the nutrient levels and can help you not spend your money on things your soil does not need as well as help you not add to the pollution of our world. A basic soil test should include soil pH, Phosphorus, Potash, Calcium, and Magnesium levels as well CEC. At extra expense you could also have other things tested for, if desired. Some people think there is no reason to test your soil, but simply knowing that you need not spend money on unneeded stuff should be enough to interest someone in having it done.
The test kits sold in garden centers are not ver reliable and the soil pH test does not give you enough good information to make intelligent decisions about your soils pH. While the P and K levels measure readily available amounts of those they do not have the ability that a good soil testing lab will have to give projected levels, what would be available long term. While Purdue no longer does soil testing, there are others that do and either UCONN or UMASS will test soils from other states at a very reasonable cost.
Remember "scientia potentia est", Knowledge is Power.

I'd simply add compost and hope for the best. If it's bothering you, maybe you can focus on one bed per year.

I second tn gardening's suggestion.