You can use rsync with the -n flag to find out if the files are in sync, without actually doing a sync.
For example, from server1:
rsync -n -avrc /abc/home/sample1/* server2:/abc/home/sample2/
This will print the names of all files (recursive, with the -r flag) that differ between server1:/abc/home/sample1/ and server2:/abc/home/sample2/
rsyncused parameters explanation
-n, --dry-run– perform a trial run with no changes made
-a, --archive– archive mode; equals -rlptgoD (no -H,-A,-X)
-v, --verbose– increase verbosity
-r, --recursive– recurse into directories
-c, --checksum– skip based on checksum, not mod-time & size