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Yep, get it properly aligned.... you WILL feel the diference, also driving your car the way it is now will trash your tires and it's dangerous since if you turn right the car will turn faster than left.
One important thing is to ask the alignment shop to check the tie rod ends and control arm bushings/balljoints to make sure they're ok too... if not, it will be a good moment to change them, then do the alignment.
Good luck!
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