Test elements in pro-$p$ groups with applications in discrete groups

Let $G$ be a group. An element $g \in G$ is called a test element of $G$ if for every endomorphism $\varphi:G \to G$, $\varphi(g)=g$ implies that $\varphi$ is an automorphism. We prove that for a finitely generated profinite group $G$, $g \in G$ is a test element of $G$ if and only if it is not contained in a proper retract of $G$. Using this result we prove that an endomorphism of a free pro-$p$ group of finite rank which preserves an automorphic orbit of a non-trivial element must be an automorphism. We give numerous explicit examples of test elements in free pro-$p$ groups and Demushkin groups. By relating test elements in finitely generated residually finite-$p$ Turner groups to test elements in their pro-$p$ completions, we provide new examples of test elements in free discrete groups and surface groups. Moreover, we prove that the set of test elements of a free discrete group of finite rank is dense in the profinite topology.