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You can spot a badly underinflated tire pretty easily. They bulge at the bottom. If one of your tires is a different shape to the others, check it or get it checked.
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This is true, but unhelpfully incomplete.
A more likely and more pernicious situation is this: You can have a badly underinflated tire and not spot it at all, given the bulge at the bottom of many radial design tires.
Short answer: Get a tire pressure gauge, learn how to use it, and apply your newfound knowledge frequently. Appearance is a poor indicator of tire pressure.