It depends a lot on what you want to count as healthy - is the server running, is the vdb running, the vdb can accept queries, is there connectivity all the way to the database, etc. - and what environment you are in / endpoints you have exposed.

For example, teiid-openshift-templates/server-docker at master · shawkins/teiid-openshift-templates · GitHub shows shell scripts for use by the docker image that use the wildfly/eap cli to look for the vdb is active or see if the vdb can accept a simple query.

It could also make sense to do a health check over odata if you are predominately accepting odata queries.