Steering problems reveal themselves in how the car responds to your input — or fails to. The system runs from the steering wheel through the rack, through the tie rods, to the wheels. Play or wear anywhere in that chain shows up as vagueness, wandering, or a clunk when you turn.
Worn tie rod ends introduce play between the rack and the wheel. The steering has a dead zone — small movements of the wheel don't move the wheels. You compensate without realizing it, making slightly larger steering inputs. On I-240 at speed, this becomes fatiguing and, in a sudden maneuver, dangerous.
Power steering issues — either fluid-related in hydraulic systems or sensor-related in electric systems — manifest as increased steering effort or an inconsistent feel. Heavy steering that wasn't heavy before is worth a check.
Ball joint wear affects steering precision because ball joints connect the steering knuckle to the suspension. Play in the joint translates to imprecision in steering response, plus a clunk over bumps that drivers often attribute to something else.