When driving along there is a noticeable vibration or shaking in the steering wheel, it can often go away or change depending on the speed.
The tyres are wearing down quicker than usual, there is a noticeable change in the amount of remaining tread on the tyre over a shorter period/distance than you'd expect.
When going around corners the car feels like it drifts out more than it should, it doesn't follow the expect line through the corner and the car seems more unstable than it did.
At slow speeds there is a distinct creaking or squeaking sound coming from the corner of the car. The sound is more obvious at slow speeds and will usually be noticeable when you feel weight shift around the car when it changes direction.