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I have a 2000 Silverado 1500 4x4. A few weeks ago i did my pitman and idler arms. When i did this i didnt remove the steering box but instead un bolted it and twisted it so i could get my puller on the arm. Everything went well but the steering shaft slid out of the steering wheel i tried to line it up as best as possible but its still a little off. Drives me crazy

is there anyway to fix this without doing an alignment?

I work as a tech at toyota so i can do my alignment when ever i want. just rather not if there is other ways.
 

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Chances are you have the steering wheel back correct and is issue is causes by the new pitman arm being splined a bit off compaired to the original
you can adjust the tie rod ends to center the wheel,just turn one in and the other out
But since you have access to a alignment machine just use that and set the toe correctly without guessing
 
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