Raise the car with the jack, then let it down on a couple pieces of solid wood or other support so the tire is off the pavement and the weight of the car rests on the wood by means of the lower control arm. That way the lower control arm is in about its normal position, but the car's weight is not on the tire. You can do one side at a time or both if you have the proper supports.

Wiggle the tire hard. You should feel no play. If you can wiggle it then you can check where the looseness is. You can try to separate the steering knuckle from lower control arm with a pry bar. Work gently so that you won't tear the rubber boot. With the weight off the wheel it is not too hard to move a loose joint. Same with the tie rod ends.