There certainly are ways to do it. The more you spend, the better the alignment. You can use a laser level and a given chunk of wood to note the level of drop off in your garage. Shim appropriately.
A couple of smooth tiles with grease between them work well as 'plates' for you to put under the front tires (keeping the suspension from binding when turning the wheels or making adjustments).
A plumb bob can be used as a vertical reference. Then use metal stock to make a a means of referencing the camber of the wheel. Try not to have a level or anything against the sidewall since the sidewall bulge (more at the bottom) can skew results. You can use little sleeves that are on slides in a piece of bar stock, and rest the sleeves against the outer lip of the wheel - nice and flat. Then use trig to not the angle.
You want as much caster as you can get - I would not bother a whole ton with that.
And for toe, you can make a deal that spans the front tires, from side to side. Put an angle bracket, etc on it so the instrument hits a part of the outside of the wheel - not the tire. Check the distance across the rear of the front tires, compared to across the front of the front tires. The difference is you toe. You can use something like cheap bar stock, with a long 90* hanger on one end, and maybe a lateral jog of metal, and then a sleeve (to hit the rim, not the tire). This obviously needs to have a slide adjustment so you can get it tight against the rims. And the other side can be fixed obviously.
This is just a horribly crude idea to show that it can be done. It can be REALLY time consuming though - just so ya know. But with some metal stock, a long metal level, a short level, a machinist's ruler (for the trig measurements), and a couple other little things, you can do alright.
Good luck.