finished_objs=UserSpeaking.objects.filter(user=request.user)
      finished_ids=[ obj.id for obj in finished_objs]

from django import template
register = template.Library()
def include_filter(value,values):
  return True if value in values else False
register.filter('include', include_filter)

{% load filters %}
 
...
{% if test.id|include:finished_ids %}
 <a href="{% url 'practice_history' test.id %}" rel="external nofollow" class="go_to_btn lf">去回顾</a>
{% endif %}