[tower]

Go see your chiroprator!

Sorry, I couldn't resist. Actally there is no car/truck company which covers wheel alignment under warranty. If the vehicle is brand new or recently aligned, you can certainly ask the last aligner to cover it. You should get your wheels aligned whenever you get new tires or think that it is off. Yours certainly sounds like it's off. The good news, FWIW, mine hans't really gone out, even after off-roading. So I suspect yours will hold once properly aligned.

Balnce has to do with rotational distribution of mass and unless you are getting shimmy, shouldnt affect your steering, Still it's always good to rotate (swap positions of) the tires and balance every few thousand miles (6 to 10 or so).