If the head gasket is blown when you pull the dipstick out it will have water on it. No borescope needed. If it doesn't, I'd highly doubt that assessment myself. The vehicle will also consume coolant (but whether it's immediately noticeable depends on how far you've driven) and you'll get...
A head gasket failure should be pretty easy to discern. There will be water in the oil and oil in the coolant. If you have that then I won't try to guess at why but yes it would require replacement. If they're going off codes but there's no water/oil mix then I suspect something else is wrong.