Yes, on the front axle, you can use shims to correct up to the limit of the steering caster angle:
http://www.4crawler.com/4x4/ForSale/Shims.shtml#FAQ1

Beyond that, either live with the pinion angle you have, which is fine as long and the u-joint does not bind and you don't need 4WD at high speeds. Otherwise, you'll need to cut and roate the steering knuckles as noted, or install a dual transfer case or a high pinion front diff, both of which can greatly lessen the front driveshaft angle.

r.c.brown@ieee.org
TruckEditor@tlca.org
Project: 4Crawler
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