For ball joints your best bet is to jack up each side (jack under axle) just enough to get a big lever under the wheel. Now lever upward on that wheel (it helps to have two people on this), and while doing so look at the ball joints (or I should say, the seal between the ball joint and the steering knuckle), especially the top one. Any movement at all = a bad ball joint, probably the upper. When it's jacked up, you can also pull on the top of the wheel, and check for sideways movement at the top, but if you see that, the ball joint is very bad, so the first test may catch the problem sooner. A bad ball joint may also cause inside edge wear on the tires which may be mistaken for toe-out.
The ball joints on an XJ can go for over 200 thousand miles easily, so I wouldn't consider this a routine maintenance item.