We study property testing in the \emph{random neighbor oracle} model for graphs, originally introduced by Czumaj and Sohler [STOC 2019]. Specifically, we initiate the study of characterizing the graph families that are $H$-\emph{testable} in this model. A graph family $\mathcal{F}$ is $H$-testable if, for every graph $H$, $H$-\emph{freeness} (that is, not having a subgraph isomorphic to $H$) is testable with one-sided error on all inputs from $\mathcal{F}$. Czumaj and Sohler showed that for any $H$-testable family of graphs $\mathcal{F}$, the family of testable properties of $\mathcal{F}$ has a known characterization, a major goal in the study of property testing. Consequently, characterizing the collection of $H$-testable graph families will not only result in new characterizations, but will also exhaust this method of characterizing testable properties. We believe that our result is a substantial step towards this goal. Czumaj and Sohler further showed that the family of planar graphs is $H$-testable, as is any family of minor-free graphs. In this paper, we provide a sufficient and much broader criterion under which a family of graphs is $H$-testable. As a corollary, we obtain new characterizations for many families of graphs including: families that are closed under taking topological minors or immersions, geometric intersection graphs of low-density objects, euclidean nearest-neighbour graphs with bounded clique number, graphs with bounded crossing number (per edge), graphs with bounded queue- and stack number, and more. The criterion we provide is based on the \emph{$r$-admissibility} graph measure from the theory of sparse graph families initiated by Nesetril and Ossona de Mendez. Proving that specific families of graphs satisfy this criterion is an active area of research, consequently, the implications of this paper may be strengthened in the future.