Jack up the front, grab the tire at the 9 and 3 o'clock positions. If you can wiggle the tire pushing straight in and out, you most likely have a bad tie rod end(s). There are more exacting tests, but that's step 1.
In 2009 I discovered a cracked boot on a tie rod end on my 1996 NSX, fortunately before contaminants got inside. But, had that gone unnoticed, that tie rod end would have been gone in a short time.