The 3 main measurements or readings are camber (the wheel leaning in or out at the top when viewed straight on), caster (the axis through the ball joints and the lean of this pivot), and toe in/out (the front of the tires pointing in or out as compared to two parallel lines).
Camber is fixed via the inner knuckles and can't be changed easily. If its off, its usually a bent part such as a tube, knuckle, or spindle. Bad or worn bearings can also effect this reading. I have seen shims that are tampered for the spindle and there are also offset ball joints that can correct to some degree. (pun intended)
Caster is also fixed but can be changed with longer shackles and corrected with perch shims. This will effect tracking and return to center.
Toe in and out is the easiest to set and can be done at home.
I use jack stands under the spring plates to raise the tires about an inch of the concrete. I use a few inches of blue painters tape in the center of the tread. A wooden block placed on the ground in front will allow a fix position marker to make a line as you rotate the tire to transfer the line to the tape. I use to do the whole tire and draw a full circumference line, but one short line one works fine.
For measuring, I do NOT use a tape measure as the reading can vary too much based on tip placement, sag/droop/arch, and angle of reading the lines. I use a tool called a tram gauge which is a straight square tube with two longer pointer that extend from sliding bases that can be set via wing nuts. I place a wooden block in front of and behind each tire so when the tram is placed on the blocks, the pointers end up at the mid point of the tires front or rear. Just rotate the tire to bring the line to the pointer.
For small tires, I set about 1/8" toe in and can go up to 3/8s on the larger tires.
Both tie rod end clamps need to be loose for the rod to spin. One is reverse threads so turning the rod will increase or decrease the distance of the tie rod.
Only after the tierod is set is the draglink set to center the steering wheel. A tip is to drive the Jeep and see how off the wheels bottom spoke is fro "6 oclock" position. IF its at 7, drive the jeep straight and stop with the wheel at 7 oclock. Leave key in unlocked position and adjust the draglink till the wheel is correct. It will have some float as going down the road.