To check the tie rods, jack up a front tire. Grasp the tire at the 3 and 9 o'clock positions, and try and twist the tire like you are trying to change the direction of the vehicle. Any looseness probably indicates you have a worn tie rod.

Tie rods, to check these have the wheel off the ground free moving. Then with your hood open, push the tire in either direction noting the movement or lack there of of the tie rod inner and outer ends. If you have a second person, you could have them put a hand on the tie rod end to see if the ball moves separately from the rest of the assembly. There should be no play it in at all for them to be good. This procedure is the same for the rear tie rod (radius rod according to AMG).