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if you can talk to a shop that does alignments. sometimes if they cant due to a bad ball joint or pitman arm they wont charge you.
Drive straight forward 3 truck lengths. Put a piece of tape on the back of the tires (on the tread) just low enough that you can run a tape measure across and keep it straight. Make an X on the tape and measure from side to side. Get as close to halfway up the tire as you can. Roll the truck ahead until you can measure across the front. If the front measurement is bigger you are toed out. I'm guessing that's what you'll find with both tires wearing on the inside. You'll need a helper that can hold the tape in the same spot each time. If they hold the tape inside the line of the X on the back and then the outside on the front you're measurement will be off 1/16 to an 1/8 inch. Instead of using the end of the tape, it's easier to hold it at the 10 inch line so the tape is flat against the tire.
also ive personaly installed cameras at dealerships that do services to cars. lets say you pull up to do an oil change they attaches something to your wheels after you get out and do a free camera inspection