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Assuming your car has the same wheelbase on the front and the rear, which almost every car does, easy check is to straighten the front tires and run a piece of string along the car.
If you do it very carefully and tweak the front steering wheel so all four tires are "straight", you can usually hold the string and get a very good idea if a tire is substantially out of whack or not.
I've aligned cars using this method but it takes a ton of time and skill and ingenuity to get it just perfect but, if you think your alignment is out of whack you can probably use this trick to see just how bad it may be for free.
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