Get it lifted check the whole front end. Control arms can be tested on the ground. Stand in front of the car and kick the wheels with the bottom of your foot straight in the direction to the read of the car with the wheels facing forward. If there is some movement the bushings in the control arms are done.
It's difficult to tell unless they are screwed bad but they should be pretty damn firm.
Always lift the car and check them by eye before you replace them of course. It will just give you an idea.