Have you taken it to have an alignment done? It could have damaged, bushings, tie rod ends, bent control arms, wheels bearings. It all depends on how it was impacted. Take it to a GOOD alignment shop, not the cheapest person I can find.
And just b/c an axle LOOKS fine, doesnt mean that the bearings on the inside didnt get bent or broken. If the joints move properly then they are probably fine but any type of binding or roughness shouldnt occur.