STOP.

If your steering wheel is not aligned right, and all of this changed due to backing out of a driveway, something is DEAD WRONG with your front suspension!!!

If the same, or greater, force is applied to the front wheels(i.e. hitting a pothole), you could lose steering and all control of your truck. This could get you and a bunch of other people killed.

PLEASE, for your safety and the safety of everyone else on the road, get it towed to the dealer, and DO NOT DRIVE IT.