For a 15" wheel, it's generally considered to be 3.5" backspacing or less. Anything more and it depends on the profile of the rim edge itself as to whether you'll need spacers or not.
Each increment you go up in wheel diameter gives you a little more leeway. For instance some 16" wheels don't seem to have an issue even with 4" of backspacing, while many others do. And 17" wheels don't seem to have the problem at all. Or at least not that I've seen here so far.
Even with 15's and 16's though, a lot of your hit-or-miss luck depends on the profile of the edge. What that means is that some aluminum wheels are cast thicker than others in that critical area, and even some steel wheels have been formed with shapes that don't allow quite as much leeway for tie-rod end clearance.
Hope that helps. I'm sure a lot of people have dealt with it directly so you should get quite a few more tidbits of info that should be even more accurate than my generic stats.
Paul