How would I know if I am on " a hardware firewall enabled DSL or cable router"?
The ISP itself doesn't have a firewall. It's the router you use with the service is where it would be. Virtually all newer routers (within at least the past 5 years) come with a firewall that is enabled by default.
Where to look depends on your service. Type this in your browser:
192.168.0.1
Virtually all home routers use this as the default self-assigned IP address. You'll need to enter the admin and password fields. Usually, this information is on a sticker of the router itself. Once past the login, you can look around.
With CenturyLink, under the main Modem Status heading, I can click on Firewall Status in the left column of choices. Of various possible firewall options, NAT is already on.