Turn the wheel all the way to the right and have someone wiggle the steering back and forth, look for play in the drivers side tie rod, repeat for the other side but turn to the left. Since you don't know the condition, definitely check them out.
Jack each side up from the lower control arm and once the tire is off the ground, grab it at 12 and 6 and see if the upper ball joint has play, or use a pry bar. Also, when the tire is off the ground, take a prybar or something and try to raise the tire and watching the lower ball joint for up and down movement, this needs to be done with the lower control arm supported, don't let it hang down by lifting the frame.
These suspension pieces can take some abuse, but don't chance it. When a tie rod or ball joint gives out it's a bad scene.