Rack and pinion centering

Good morning, did some work on 2001 Toyota Tacoma, 2.4l, rwd, 5 lugs, replaced rack and pinion, all ball joints on the front, sway bar links, front shocks, performed alignment at mechanical shop, my problem is steering wheel not return in center after turns. Can I center steering rack while still attached on vehicle. I read on previous threads that I can do it by turning steering wheel all the way to the left then all the way to de right and counting turns and then turning to the left as half of that count. After separate steering wheel from rack and then turning steering wheel until meet splines in the groove. After that need center steering wheel by turning tie rod ends in or out. Only think I did not understand what tie rod ends to turn inner or outer in order to center steering wheel. Thanks.