The easiest thing to do

Look at your tire.  Look at the inner side of the tire surface that touches ground.  A give away ball joint will result in excess wear of the inner side of the tire. 

There are also other ways to do it: jack up you car and hold the tire, front and rear end, pray in and out to see if the tie rod is ok; hold the tire up and down side, pray in and out to see if the ball joint is OK.