Best metric to evaluate SFH rental performance after first year

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I've got a few rentals that I have had for a number of years. I keep reading about different ways to analyze them. It seems like some of these metrics are geared for a pre-purchase analysis or for after the first year when total cash investment for purchase is considered.  Are there any ways to figure ongoing performance.  I kinda feel like my rentals are doing pretty good, but am wondering about some kind of objective measurement that verifies or contradicts what I think.  What is the best metric for this?