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The arm keeps both front wheels pointing the same direction by keeping the parallogram geomery identical on both sides. When the bushing wears, the geonetry doesn't stay identical and will shift around. That will cause the passenger wheel to be able to turn a few degrees left and right independently of the steering wheel and drivers wheel.
You'll almost never notice it as a steering problem unless you go over some ridge in the road that's nearly (but not exactly) parallel to your direction of travel and only on the passenger side. When the front passenger tire hits it, it might turn a few degrees and cause the car to veer slightly left or right.
Other than that, you'll probably only notice it as increased tire wear and noise. If it gets extreme, you might notice it as an alignment problem that changes.
When you get it fixed, ridges in the road like I described will not cause the car to veer at all, even a little bit.
YMMV, but that's what I discovered/learned/deduced when I noticed my car would veer when I drove (slowly -- <5MPH) over a part of a road where the asphalt had delaminated near the curb.
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