If you didn't allow your steering shaft to spin while doing the steering wheel swap and your wheels were pointed straight ahead when doing the job, you can do exactly what others have said and pull the steering wheel back off, and getting it back on straight this time.

I would not mess with the outer tie rods unless you are planning on getting an alignment anyway. It's true you can make adjustments with the tie rods but why risk screwing up your alignment toe? Yes, you can do a driveway alignment. I did this and was within spec by using a tape measure on my 1985 4runner. But, you can only be sure your alignment is perfect when you get it to an alignment shop and they get it up on their alignment rack.

This video will help those interested in swapping out a steering wheel.