Go buy two 4' levels from Home Depot (or where ever)
Have tires pointed straight. They can be on the ground.
Have buddy A place level against tire A, halfway up and parallel to the ground.
You hold second level against tire B, same position.
Measure from the end of one level to the end of the other level. Note the amount, should be 80something.
Measure from the other end of the level to the second level. Note the amount, again should be very close to the first amount.
These two measurements are taken about 48" from each other. (the length of the level, which I like to use all of it)
The measurement taken in front of the tires should be 1/8-1/4" smaller than the measurement taken from rear of the tire. (leading side VS. trailing side of rotation) I tend to run about 3/16" Toe In, tires pointing inward while looking AT the truck.
You don't have to pull the tires, just try to measure on a flat part of the tire, like between shoulder lugs if you have them. When you are done, either keep the levels or return them
To check camber and caster, you will need an angle finder. I like the small cube digital ones. But for now, toe is the easiest to check.