Well, you could do a by eye version as a band-aide...but if you want it perfect, the machines are a lot more accurate.

Essentially, if it was aligned properly, and all you did as take off and replace the steering linkages....those are all that should be off...unless you also do more lift, etc.

The lift pulls it over as it goes up on that side (Pulls the linkage), etc.

Just loosen the drag link, let it slide out until its not pulling anymore/you can get things somewhat straight...and see what that does for you for now.