Depending on how much "play" there is in the tie rod or tie rod end is the question. Generally though when its bad enough you will feel it in the steering wheel. Depending on the state (you being Mass, I don't know the inspection laws up there). In some states those the limit of play is no more than an 1/8" in movement. This amount of movement can cause increased tire wear due to improper toe alignment and will cause the vehicle to pull or push in one direction or the other. This can lead to head on accidents or other collisions.
Note: TOE does not affect camber changes. However CAMBER changes will affect TOE.
Also when there is this excess play int he suspension components an alignment technician can't provide you with a reliable alignment as the front end has to be moved repeatedly during the alignment process. So when the front end is steering left and right and then recentered the machine will get a different reading every time asking for additional unnecessary corrections that has to be done by the tech.
So is it safe, depends on the amount of movement. If its only a small amount then its generally safe but you will cause accelerated wear to the tires.
Several years ago the manufacturers actually set the alignment to naturally fight the crown or grade of the road. As roads have a natural grade to aid in the removal of standing water. This would cause vehicles to veer to the left if you let go of the wheel. However this is not a common practice anymore as it was also determined to be liability and the government told the manufactures to cease this practice sometime in the last 80's early 90's. So this most likely doesn't apply to you, just some useless knowledge.