Jigglypuffster, it all depends. (Disclaimer - I'm not a doctor. This is based on a lot of reading, an understanding of stats and on personal experience).
If you really have no symptoms currently, I think you'd have difficulty getting a GP to refer you, though you could try and if you're ever at all worried I think you should ask them. If you did manage to get referred, I'm not sure a surgeon would agree that the benefits of laparoscopy in a non-symptomatic patient would outweigh the risks.
But it would be worth flagging up if it does start to cause you problems again. I don't just mean gynaecological symptoms - in its more advanced stages it can give all sorts of problems that aren't obviously gynaeclogical in nature and that can occur in the absence of any gynaecological symptoms at all. Patients can end up being sent round gastroenterology, urology and other departments with nobody joining the dots, so the wrong investigations get done. So if you get any persistent bowel/bladder/abdominal problems, or even leg and back pain, it's worth flagging it up - don't assume that somebody appropriately qualified will make the connection or ask the right questions.
The other thing that might make a difference is your age, which I don't think you mention. I think there do seem to be patients who have endometriosis for a long time and it doesn't in the end cause them any serious problem apart from pain, which is distressing but on its own, not a serious risk to health. If you're past a certain age and it hasn't caused a major problem already, the risk of its becoming so later seems to decrease a bit (disclaimer - I don't have a reference for this so if anyone disagrees, please point me to a source). In younger patients (teenage and 20s) I feel strongly that symptoms should be thoroughly investigated - it's potentially a serious illness in some cases, and diagnosis is the first step in risk assessment. Teenagers/younger women are often too young to know whether they might be in the proportion of patients who are much more seriously affected and who would, retrospectively, have benefitted greatly from earlier treatment. There also does seem to be a small proportion of endometriosis patients who get diagnosed in their late 20s or 30s when they hit serious complications - such as kidney failure. So far as I'm aware, this particular risk peaks during your 30s and decreases afterwards.
So I think the upshot is, if you're still younger, keep an eye on your health and act promptly if you get any pain/bowel/bladder symptoms. Discuss it with your GP if you feel at all worried. If you're over 40, it becomes less of a concern but it's still worth flagging up if you get any odd symptoms.
I haven't read the article you linked but have read Hilary Mantel's memoir. The shocking thing to me really is that things have moved on a little since then, but not nearly enough, given the time that has passed.
Letitia, no it likely wouldn't unless possibly you had adenomyosis, and probably not even then, and I think it would be very unlikely to pick anything up that's on the outer side of the uterus wall, which is most types of endometriosis. It's not a given that you have the other types of pain, though they are common. So, yes, I doubt you will ever know. I'm glad you've got through menopause!
@Caramac555 and the others who are suggesting successful pregnancies indicate there wasn't a problem - I'd be wary of suggesting this, because actually the proportion of endometriosis patients who experience fertility problems is less than half (25-50% depending on estimate but I think a good proportion of these do go on to have children), so ease of becoming pregnant isn't really an indicator of anything. Also, for patients with really extensive disease, the big concern often isn't actually fertility, it's damage to various essential organs and nerves.