I had my two driver side bolts loosen off last year.
Raise the front wheels off the ground and grab a hold of each tire at the 3 and 9 o’clock positions and pull/push back and forth (similar process as you would use when looking for a bad wheel bearing). While doing this, look over the top of the tire at the end of the steering rack. In my case, you could see the end of the rack twitch as you loaded up the tire.
I opted for replacing all three bolts (two on driver side, one on passenger)
Replacing or tightening the bolts is quite doable with the engine in place. Two are accessed in the plenum chamber from above. One of them is under the brake booster and the other is below the pump/valve unit (circled in red below). I removed the air intake unit for better access.
The third bolt is accessed from underneath. Access is somewhat restricted. I chose to go in through the driver side wheel well with a long reach air ratchet.