You can do a toe-in toe-out adjustment pretty easily. its just some simple measurements, and real easy adjustments. my grandpa and i did a toe-in on his van. I did a toe-in job on my little Civic (which, I might add, after my step-dad drove it, he said ,"Man, you did a better job than the shop I paid $60 to do it!") and my truck.
The tricky part comes with camber and caster, thats really what the machines are needed, because theres no good way for you to measure it.
I know of a chain (Firestone) that offers a "Premium Alignment" (link). Around here in Arkansas, its $140, and they give you a Lifetime Warranty on the alignment (as long as you own the vehicle, they will do future alignments for free). A little hefty for a one-time charge, but it pays for itself after the second time.

 

I will have to keep Firestone number close by. I didnt know about the life time deal.