This is a fairly old trick to recenter your steering wheel if it's off a bit and you aren't getting any uneven wear on your front tires. Granted an alignment is the best way to go but this works for us thrifty people.
The first step is to take a paint marker, tire crayon or something similar and make two marks on each side of the truck, one on the inner tie rod and one on the outer. Then loosen the jam nuts with a 24mm wrench.
If your steering wheel needs moved to the left, rotate the inner ends toward the front of the truck on both sides. If it needs moved to the right, rotate the inner ends toward the rear of the truck. I recommend moving them no more than 1/8 of a turn at a time to avoid overshooting the center. By using the reference marks and turning the inner rods equally, you won't throw off your toe setting. Hold the inner rod with pliers or a wrench (depending on your style of inners) and tighten the jam nuts, then double check the reference marks because the inner rod will sometimes turn with the jam nut as you tighten it.