Jack up the wheel, lock the brakes, and apply significant force on the lug 
bolts with a wrench.  Any movement in the bushings other that plain rotation 
will indicate wear.  This works well for the rear links too, by the way.

Crack in the rubber bushings or obvious dislocation from center or wobbly 
steering not due to ball joints or tie rod ends (or drag link bushings) are 
also an indication they are bad.
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