Kidney beans are done when you can squish one easily between your fingers or against the roof of your mouth. They should be creamy inside, not chalky. If they’re still gritty, keep simmering and check every 10 minutes.
Pro tip: Add a bay leaf or a strip of kombu seaweed to the pot while cooking. It adds depth of flavor and helps make them extra tender. Your grandma would approve—and so will your digestive system.