In the first instance, If you can jack the front of the car up, remove the wheels and look for any play in the steering arms. Any local garage would be able to do this if you don't have the necessary equipment at home.
For a more detailed check you would need to remove the relevant cover plates to get access to the steering rack itself in order to check the mounting bolts.
Tim H. 1986 4/4 VVTi Sport, 2002 LR Defender, 2022 Mini Cooper SE
