I took the truck in my avatar to the local alignment shop and they refused to do it saying their wheel attachment device wouldn't project beyond my fenders, so I do it myself
Doing it on my four-post lift makes it a little easier and saves having to get up and down multiple times. I have a set of wood blocks that I place under the front and rear to make sure the suspension is at the factory ride-height for alignment (truck is on airbags and I try to keep the ride height at the factory level)
When I built the truck, I used a Longacre caster gauge to set caster at 5 degrees it and it typically doesn't change.
To align the truck, I start by setting the camber front and rear using one of these-
Attaches magnetically to your blade to provide a precise angle reading—now featuring an easy-to-read backlit screen.
www.rockler.com
My rack-and-pinion has a detent that can be used to center the rack, so I do that next
I use the method shown in your pictures. I have staggered wheels - the string in the picture just needs to be parallel to the face of the wheels and even on both sides.
I use a piece of metal conduit that match drilled with 1/16" holes so the string will always be parallel. I set the conduit on the outside of the tires on jackstands at the height of the axles. I then take some fishing line and thread it through the conduit holes and put some tension in it to form a rectangle around the vehicle. I square it against the tires using a steel rule to rough it in then a digital calipers to get a little closer. You can measure more closely with fishing line that with a string.
The first adjustment is to get the thrust angle of the rear tires set so it is parallel to the centerline of the truck (I'll go back later and put a little toe-in on the IRS) I can add brass shims to the lower control arm mounts to bring it parallel
Next I adjust the front wheels' with the tie rods so they ar parallel with the centerline of the truck. Once they are parallel, I'll dial in a little toe-in measuring off the lip of the rim.
It helps if you have a pictorial worksheet to write the successive dimensions on as you adjust the wheels to be parallel to the centerline of the vehicle.