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That should get you started. Yes it can be done without the modern computer, but it takes skill and knowledge. I'll leave you to it. Camber plates are helpful.
After fixing my dads car it was way off and I got it 99% straight with slight pull to the left so figured I'd do mine too till I get $ for a shop but just drove it and its not too bad.
I would always get the car aligned after installing tie rod ends. Shops usually figure the alignment in the price when doing a tie rod job. It usually cost 50-75 for a 4 tire alignment.
I know how to move the tie rod ends to adjust, but how do I know which side may be off and to keep it straight and not pull either way?
Easy enough... If you're replaceing tie rod ends, count the turns untill it comes off, and note the location of the rod. Install it with the rod in the same direction, and rotate it the same amount. tighten the jam nut, and drive it to an alignment shop. You'll pay $50-$75 for an alignment on a $10,000 machine. No other way will cause the tires to wear evenly...