[Synchro909]

If you have the left wheel pointing forward and the other say, 10 degrees outwards, turn the steering wheel so that the left wheel is now pointing 5 degrees outwards. The right one will also be pointing 5 degrees outwards. The actual numbers don't matter.
Don't over think this. Just point both wheels forwardish and turn the tie rod till you get the setting you want. Roll the car between adjustments.
If you run out of adjustment, that's a whole different matter. We'll worry about that if it happens.
Jackson beat me to it - he is saying the same as I.