If the steering feels tight, and isn’t binding or making weird noises, the odds are you’re fine. But the only way to be sure is to put the car on a lift, see how much play there is and inspect them.
I once had a tie rod break with no warning–was going around a gradual curve and the car started bounding all over the road like an excited puppy… then it was fine again… then freaking out again. One wheel was probably doing what the wheel on a bad shopping cart does. A little weird and scary. On that particular car I think it was a $5 repair that I did myself and just eyeballed the alignment from the old broken part.
I suppose if there’s a point to the story, it is that you should have it inspected and fixed if necessary. Steering is kind of important.