Yes you can center the wheel yourself assuming the offset is slight.
What you need to do is to mark both of your tie rod ends/lock nuts/steering arms with a paint marker. What you are then going to do is make equal but opposite adjustments to the steering arm lengths.
Determine which arm to lengthen and which am to shorten. If the wheel is offset to the left you want to shorten the left arm and lengthen the right arm and vice versa if the offset is to the right.
To shorten the arm loosen the lock nut and turn it two flats from the marked tie rod. Keep the steering arm in the same relationship to the tie rod. Then turn the steering arm clockwise along with the lock nut to where the nut is back to the tie rod. Snug it back up.
To lengthen the arm break the lock nut loose. Turn the steering arm with the lock nut, keeping the lock nut in the same relationship to the steering arm until the lock nut is out by two flats. Then tighten up the lock nut to the tie rod without turning the steering arm.
Check the wheel centering and go from there. You may want to start with only one flat of adjustment. I have found the one flat is barely noticeable. If one flat is not enough then just repeat the adjustment. Or you can start with three flats if you want to move it a fair amount. It really doesn’t matter as long as you make equal but opposite adjustments your toe setting will remain the same.
I just took a quick pic under my car so you can get an idea as to my reference points.
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