As above - adjust at the center drag link (4WD only):
Go under the truck and on the left hand side locate center drag link. It connects the pitman arm to the steering arm and is shown as item 17 below:
It looks like this:
If your steering wheel is offset (either CW or CCW) while traveling straight ahead - it can be easily trued up by shortening or extending the effective length of the link.
Just glide to a stop (hands off the steering wheel). Your tires will be pointing straight ahead. Leave the steering wheel unlocked and loosen the clamps on the adjusting sleeve. Then with an assistant watching the steering wheel, turn the sleeve. The steering wheel will turn (either in the correct direction or not) if it gets worse, turn the sleeve the other way.
It only takes about a 1/4 turn to move the wheel spokes about 45 degrees. This method doesn't affect your front end alignment. Nothing in the steering linkage changes - only the index of the steering wheel. Much easier than adjusting both tie-rod ends.