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You can close AMCL and publish the tf map -> odom staticly with static_transform_publisher. To test the accuracy of odom -> base_link, you should make map and odom coincide, that is you should run static_transform_publisher 0 0 0 0 0 0 map odom 50 to make the x/y/z and y/p/r offset zero.

And then you can set a goal to navigation and compare the robot's real location with the location feedback to RViz. Cuz at this time the location in RViz comes from odom -> base_link.