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Males develop emboli on their palps once mature. For the female when you look at her molt the spermatheca will be a dark reddish/brown once she's mature
I noticed most if not all of my adult female tarantulas have some kind of faded gray stripes on the 'knees'. Those stripes seem to be absent in sub-adults and juvies. Applies to those with black legs only though. The spermathecae cover on the abdomen of mature females are more pronounced and 'lippy' to look at as well. For males well, most species either get hooks or change color to be sexually dimorphic. I repeat does not apply to all but is fairly observable