A few notes:
1) Compression test will not be conclusive
2) Tunnie is right, lack of antifreeze is usually the main cause of HG failure, (it's a corrosion inhibitor) but it's down to the length of time it's run without antifreeze, more than how hard it's driven.
3) While I agree with mr LooKnee that HG failure is rare on the V6, I have seen it happen twice (on badly maintained cars) and strangely it's always been the passenger side one that's gone.
Ensure you fit genuine or Elring exhaust manifold gaskets on re-assembly, pattern ones work OK but apparently longevity is nowhere near as good as genuine ones. DONT refit if there is as much as one snapped stud - get it seen to by a machine shop. Use genuine camshaft seals too and genuine camcover gaskets. Don't forget the camcover O rings.
While the heads are off I recommend you remove the valves, fit new stem seals, and lap them back in. Do the paraffin test to ensure suitable valve seating.
Top end Gasket kit is £49 from Trechii on ebay + £12 for head bolts, which you must replace without fail.
Head bolt tightening sequence from memory is 25nm, 90deg, 90deg, 90deg, followed by a recommended 15deg tolerance turn.
This is a great opportunity to reseal the oil cooler, and replace it even, if the car has been run for ages without the right coolant mix.
Also, use genuine GM doughty washers on the coolant bridge, and preferably new bolts. They are cheap, and the old bolts can break on a badly maintainted engine. Pattern washers leak.