Like Jeffy said, you can fix this by an alignment.
I dont know if you will have the same issues as me, but every time I get it aligned, they dont get it just right becasue after the machine says it is align, if you turn the wheel to both sides (jerk it around), and bring it back to center, the machine will say now it is not aligned. What I do is that I set a mark (in something I can easily remove later, like a small piece of tape) on where the center is for the Jeep to drive straight, then go home, and park it with the wheels in the center, and then do as Jeffy said ("Loosen the two clamps on the drag-link and twist the rod", "unlock the steering wheel before hand") until the wheel is where it should be, and then tighten everything up nice and tight.
Felipe