If you're not changing the ride height... I would just double-check your truck's toe-in with a tape measure (find *like* treads front/back, or use a marker line). If it seems 'right' then it's your call. I probably wouldn't then. If you changed any ball joints, tie rod ends or it's high miles, then a good alignment would be a good idea.
You'd be surprised that some dealers still verify tow this way. And I've had pit passes and seen them do minor adjustments with race and Indy cars in the pits with a tape measure. It surprised me and my buddy. I've done my vehicles with a tape measure too for years. Assuming all else hasn't changed, 1/8" to 3/16" difference front to rear on the tires (that's a 1/16-3/32"toe-in) is what I usually set at. If you're running oversized tires you might want to go on the higher side. 90% of the time, you're paying for a toe-in adjustment anyway.
Before you let your truck down off the jackstands, you double-check the ball joints and tie-rod ends. There's videos that show ya how to do it. Or maybe you have already.
Here's what I use for each wheel which makes the job easier (if you make one, verify it's 100% 'true'). It measures off the rim rather than the tire:
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