The best indicator is bass extension and response (clarity, control).
I've found that 200 ohms or lower works best with most solid state amps having 23k ohm input impedance or higher.
Most preamp manufacturers I have asked have said that an output impedance of up to 500 ohms would be fine, but what I have heard in my system has not confirmed the advice.
In all cases regarding preamp output impedance when used with a solid state preamp, lower has been better.
I have found John Atkinson's test measurements section of Stereophile reviews extremely helpful on this topic. He always addresses output impedance in preamp tests, and input impedance in amplifier tests, and he suggests impedance matching thresholds.