Sure, it's very simple!
Have someone get in the vehicle and start it, while keeping it in Park (if it's an automatic), or neutral with their foot on the brake (if it's a manual).
While they do that, get under the front of the vehicle while laying on your back, looking up at the steering. Have them aggressively turn the steering wheel back-and-forth while you're laying there. While they're doing this, look for any unwanted movement in the tie rod, drag links, track bar, etc.
When something is loose or has unnecessary movement, it should be very obvious when you're under there. For instance, a loose axle side track bar bolt will be instantly recognizable, because you'll see the bolt that holds the track bar to the axle side moving around in it's hole with plenty of slop.
Doing a dry steering test is how you can identify components of your steering that visibly need to be replaced or torqued to spec. The most common one is indeed the axle side track bar bolt.