its a hell of a lot easier to turn the inner tie rod from under the rear of the front tire, just did this 2 days ago. with the wheels straight anyways.
my inner tie rod went bad, i changed it, marked the old rod where the lock nut was, matched it all up and my steering wheel was off by 4 inches.
i left the car running and turned the inner tie rod till the wheel went straight, test drive, readjust, a few times, its close, but not anywhere nears perfect. the only way to get it perfect is on a alignment rack. i need to go soon myself, this was just to keep me in the ball park till i get top the shop.
i have seen on tv where they did a at home alignment, they just measured from matching tread on the tires, 1/8 smaller on the front side of the tire vs the rear of the tire.