How to know if a graph contains subdivisions of $K_{3,3}$ or $K_{5}$

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I've been reading about planarity in graph theory and I am kind of a newbie. I know that according to Kuratowski's Theorem (1930) "a graph is planar if and only if it contains no subdivision of $K_5$ or $K_{3,3}$". However, I was confused how do you actually check this? There are not very many examples online. I was thinking perhaps this could be checked with an adjacency matrix, but this sounds very tedious. Are there more efficient ways?