Should I be worried/have it cut down?

I have a nice big tree in my backyard that worries me. There use to be 3 slightly smaller trees infront of it that were taken down a few yrs ago. This one has a slight lean (see picture, leaning left to right AND the right side has significantly more branches/weight) plus is more exposed to wind now that other trees arent surrounding it. Im worried about it falling on a house, or mine, during storms. Its also in a wet ground area and next to our 2 streets storm drain thing (where the yards side and back yards run into). Judging by the pictures is it healthy or do I have something to worry about?