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Do I need an alignment?

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I had to replace my front tires after getting a screw in one of them. They recommended an alignment for $200 afterwards which I passed on as my car only has 17K miles and tracks straight just fine but I understand they can be out of alignment from the factory and it could cause uneven wear.

It looks like it’s mainly one of the rear wheels that’s out of spec but I don’t know the thresholds for how bad it is. Can anyone knowledgeable give me their opinion on if it’s worth getting it done?