If working with a floor jack and stands just spin the wheel while on and hold a screwdriver or something against fender while wheel and all turns. If metal of wheel not tire shows wobble, called "run out" by eye it's off and would be a lot if you see it easily and would feel that.
The joints - need to know how to check them. No wear looseness allowed - that joint is gone if seen.
Should know but you want weight of vehicle on the lower control arm on almost all not the frame of this as that can make it show no play. Just support vehicle close to lower ball joints where known strong with a jack stand and pry up on tire and wheel (helper is nice) and look at it. {instert here, if coil spring is on top of upper control arms you check with vehicle's weight held up be chassis or frame. Do both ways in question.
Side important note: Some grease-able joints in assorted vehicles you can't get at all fittings without steering the car as they point right at something. A or B - they make "L" grease fittings or other angles to put there or always know that you need to steer it to get at them all.
This is where the oil change places that brag speed are going to fail and just not grease joints that aren't easy! More is that some new joints will have grease fittings and OE ones didn't so might no look for them so too important. IMO - THERE'S ALMOST NO REASON A GREASABLE JOINT SHOULD WEAR OUT FOR TONS OF MILES, USE AND DECADES! Use waterproof (marine) or synthetic grease all the time and often - more often than oil change times if need be.
The cost of some joints is high plus alignments one by one for not doing this makes it worth the effort.
Trivia and true: For all my time - mega years of working on cars, trucks, machines, I've only seen ONE greasable joint wear out that wasn't already bad when I was taking care of a vehicle and that one was defective from new as I did it, miles recorded and owner was in ever 3,000 miles on the dot and it was dangerously worn in ONE year. That is so rare as said.
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As you see I'm not agreeing with just miles, time for wear. One thing that is a killer is water and dunking joints in water or from spray which is why you want water proof (still needs redoing) grease. Cheap grease dissolves in plain water but takes some time but less than the intervals most folks would do,
Tom