Super easy
Park your Jeep TJ with the tires as straight as you can. Your steering box is connected to the drag link via the pitman arm. We’re going to be adjusting the length of the drag link. Locate the adjuster sleeve on the drag link and loosen the bolts that hold the clamps together. You do not need to remove them.
Grab your pipe wrench and turn the adjuster sleeve until the steering wheel is as straight as you can. Once that is done you will need to tighten the bolts on the sleeve clamps back up and take a test drive. If you notice it’s still a bit off while driving, try again.