You can pretty much do it in your driveway. Toe and steering wheel alignment are easily done by adjusting the drag link and tie rod. Use a tape measure and get the tires roughly 3/16" closer together in the front than the rear. Measure off of a common point on the tread.
Caster is rarely adjusted, but can be done if necessary using shims. Camber is fixed. If your camber is off, your axle is bent, and you have bigger problems.