Steering parts

To check for play in your car's steering parts, you can : 

Check while the car is on the ground
While the car is stationary, turn the steering wheel left and right while listening for knocking or excessive play. You shouldn't be able to turn the wheel more than 7 centimeters before the wheels start to move.
Check while the car is up on a hoist
With the car raised, you can check for play in each part by looking for looseness, damage, or cracks. You can also wiggle the wheels back and forth to see if there's any play.
Check the steering joints
With the car on all four wheels, have someone turn the steering wheel while you feel the joint. There shouldn't be any play when the joint is turned or pushed and pulled.
Check the tie rod assembly
Grab the tie rod assembly and shake it to see if it moves. You can also check the boots (rubber covers) for cracks or rips.