techinfo.toyota.com has the FSM for your truck online. (FSM = Factory Service Manual...aka Repair Manual. It is published by Toyota and covers dissasembly and reassembly of just about the entire truck...and more. much much much much better than haynes/chilton.)

you can subscribe to the site for a day for $10 and, if you are patient enough to download a whole buttload of PDFs, get the entire FSM for $10 (they cost several hundred new, i think). if you don't want to get the whole thing, you can just download the section on steering...it has the info you are looking for. (however, i strongly suggest taking the time to download the whole thing...it is an invaluable, irreplaceable resource for wrenchin' on yer truck.)

supposedly, you can get your alignment fairly close with a tape measure, but i've never tried it.