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When driving on a US interstate highway, how will I know if an upcoming exit ramp will be followed by an entrance ramp to re-enter the highway after exiting? (e.g. if I need a gas station or food break)

In rural stretches re-entry is almost always possiblebut not always. In cities, especially where various freeways meet, I feel like re-entry is much less common. But how to know in advance without trial-and-error?

(When I started driving I had erroneously thought that if the exit says "Exit only" in yellow, there would be no return entrance, but I now believe this refers to the specific lane being forced to exit, which is really nothing to do with ability to re-enter after exiting.)
How can I know if a U.S. interstate exit will have a return entrance ramp?