It's really really not that bad to do. As I said before the wheels have to be straight ahead. Do this by driving into the shop and don't touch the steering wheel as the truck will straighten the front wheels itself. When you stop the truck the amount you have to adjust will be the amount the steering wheel is off by. I don't remember how your steering parts are exactly laid out, so do this, lengthen the right tie rod sleeve 1 full turn and shorten the left 1 full turn. If the steering wheel is going in the correct direction just adjust until it is at 12 o'clock as it should be. If it is going in the wrong direction just take out the 1 turn you gave both tie rod adjusters to start with and go the other way. If the toe was right to start with and you move both of the adjusters by the same amount the toe will not change. Don't be suprised after you are done and you take it out in the lot for a little test run that you have to bring it back in for just a little more fine adjustment.
Check all the tie rod ends, pitman arm, and idler arm for wear first.