The scientific way to test for leading or lagging behavior is to calculate a lagged correlation.
For example, to test if the ES follows the NQ with a 1 minute lag, then you would take a sample of ES and NQ minute-by-minute prices, compute the change from one minute to the next, lag the NQ series (add 1 minute to each of the times), and then compute the correlation between the two series.
If, when the NQ goes up one minute, the ES goes up the next minute, you will get a positive correlation.