is it in 4wd?
lift the front end off the ground put on jack stands and get a friend to hold the steering wheel at full lock while you turn the wheel by hand and pay very specific attention to the u-joints as well as if both tires are turning at the same time and if the drive shaft is turning as well.
yes you can do a ruff alignment on your jeep pretty easily but if your not carefull you can make some costly mistakes