Imo, you'd either feel some slop in the steering, or perhaps hear some rattling from the suspension. But, if it all feels tight when you grab the front wheel and try to turn it in either direction, then it's probably fine.
Question - did you lift the entire front end, or just one side? I find it useful to jack up one side, so the other side is held in place by the ground. Then you can try to move the wheel, with the other side being held in place. Try it from the other side as well.
How many miles are on the car? Have any joints been replaced? Did you check the inners and the outers?
Sounds like yours are probably ok, for a while anyhow. Make a mental note to check them every spring.
HTH,
bs
p.s. When it is time to replace them, I strongly recommend doing the entire suspension if the car has some miles on it. For years, I kind of replaced suspension components as they wore out, but then on a recommendation from Paul Glynn, I rebushed an entire suspension and the change was dramatic. Even a good looking bushing or ball joint can have some play in it, and it all adds up. Further, once you've taken apart a corner of the car, you've pretty much eaten up most of the labor to replace all of the joints and bushings in that corner. May as well spring for the parts and do them while it's apart.