I once drove an old car 200 miles, stopped in the driveway and one tie rod just fell out of its socket. Didn't feel a thing during the drive. No vibrations and no drivability issues.
One way to tell is to have someone turn the steering wheel back and forth, about 10? each way, rapidly. Watch the tie rod ends, you will see if there is any play in them.
It would be real unusual for tie rods to be worn out this early. Look at both rods, they should be symmetrical but mirror images of each other. If there is any accident damage, you should be able to notice it, and your tires would wear out real fast and have an unusual wear pattern.