i just had mine replaced last week. i could tell something wasn't right because when the suspension would cycle at low speeds, such as going over speed bumps or entering parking lots, it would make a sound. also, when parked, if i turned the wheel a quarter of a turn left or right, i'd hear the same sound. although it sounded like it was coming from the passenger's side, the dealer replaced both outer tie rod ends under warranty.
the steering felt fine when driving on the highway, but when parked, it felt like something was loose, like the column was sloppy or the steering rack was loose. the amount of resistance i experienced on the wheel when stopped just didn't feel right.