Jack your wheel up, horizontally hold the sides of the wheel and try to rock it back and forth, you need to shock it. If you feel a knocking your track rod ball joint has probably failed. You'll probably get a little bit of knocking from the rack and pinion, you judge this from experience, compare both sides and if you get a bigger knock on one side then you know you have a problem.
Shift your grip to hold the sides of the wheel vertically if you feel a knock it could be your lower suspension arm ball joint or your wheel bearing. Have someone sit in the car and depress the brake, if the knock is still there it's the lower suspension arm ball joint, if it's gone, it's your bearing.
Do it on both sides to compare.
To check your alignment, park on a level surface, put your steering straight, get a bit of string and run it from your rear wheel, run it to the front of the car and pull it taught so it runs centrally across the face of your rear wheel to your front wheel, introduce the string to the face of the front wheel until its just touching the face, as you introduce it, it should touch the front and back of the wheel equally at the same time, if it touches the one side of the front wheel's face before the other you're out of alignment. Compare this on both sides of the car, if the gap is equal on both sides the wheels are probably aligned, but the steering wheel wasn't centred when the tech did the alignment. It's not anymore complicated than this, you don't need lasers to get it true.
For better explanation of the above, google wheel alignment with string, there's probably videos on youtube. Same advice for the ball joints.