Properties files in Java must be saved in the ISO-8859-1 character set for Java to read them properly. That means that it is possible to use special characters from Western European languages without escaping them. It is not possible to use characters from other languages such as those from Easter Europe, Russia, or China without escaping them.
As such there are only a few non-ascii characters that can appear in a properties file without being escaped.
To detect whether characters have been escaped or not, you will need to open the properties file directly, rather than through the Properties class. The Properties class does all the unescaping for you when you load a file through it. You should open them using the File class or though System.getResourceAsStream as an InputStream. Once you do so you can scan through the input stream one byte at a time and ensure that all bytes are in the 0x20-0x7E range plus new lines \r and \n which is the ASCII range of characters you would expect in a properties file.
I would suggest that your translators don't try to write properties files directly. They should provide you with documents like spreadsheets that you convert into properties file. Or they could use a translation editor such as Attesoro (which I wrote) to let them save the properties files properly escaped.