If you just want a basic overview of what ports are open, a simple nmap scan is fine for that. That isn't "penetration testing" though. A real test would go much further than that depending on the specifics of your network. Numerous entire books have been written on that subject so I won't go any further other than to say if you want a basic test, run nmap. If you want an in depth professional assessment, you should hire someone experienced in doing this kind of thing.
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