Trusted, qualified independent experts: Ala Underwriters Laboratories.
I get the desire to not have to trust a third party, but realistically, there isn't a way to function without doing so, outside of going out and living in the forest in a cabin you've built yourself, either doing without electricity, or with solar panels you've built yourself from raw materials.
Human processes aren't like computers. They're messy. They fail sometimes. They need checks and balances. Sometimes those checks and balances don't work. Sometimes the checks only work well after the fact, and the people who were harmed aren't all made whole.
That's life. We probably can't do much better.
Some trust has to be created through testing standards and the law, but generally we do believe what the label says in day to day life.
Detection of the car being on a rolling road, special button combos that trigger the emissions testing map, etc
Maybe trusted community of people could do it for everyone, but there's currently all kinds of potential legal trouble brewing in that approach. Complete and public reverse engineering of every aspect of any device would have to be made completely legal, so that people could freely publish all artifacts extracted from a device and produced during reverse engineering and collaborate on them without any fear of repercussions. Also HW manufacturers would have to be prohibited from NDAing documentation for SoCs, etc.
Side benefit would be that this would also serve as a documentation for freeing the device and developing alternative firmwares with modernized sw/reduced attack surface.