Assuming you were on a flat stretch of road and not one with a crown,
If the rack is moving in the bracket laterally it could have put enough force on the two bushing mounts on the drivers side and shift slightly causing your wheel to be cocked over a bit. I would have thought that would be rare since the drivers side is more secure. With the pass side being sort of tight it could have moved one way but would not go back to where it was originally without more force from the other side.
Did you check those two bolts on the driver's side. They may have been loosened from before this over time and need to be snugged up.
Now to do that and center the rack you will have to loosen the pass side.
If you just adjust the tie rods, if it moves again you have to chase it back.
I do recall on the stock tie rod boots that even though the band clamp is tight you can rotate and slightly move the boot. So maybe it slid the boot over some if the rack somehow moved even though it does not appear there is much more sleeve showing.
Check the tie rods if you think you may have pushed hard on something and those two bolts.
With all my stuff stock at one point after rock crawling my steering wheel shifted and I not find anything that moved, no bent tie rods and had to adjust them to correct the steering wheel. I think that is rather common.
In this case we need to know why.
This shows the two drivers side mounting points.
It's going have to be checked in steps to see if something is obvious over on the drivers side, if that is not messed up and the rack has not separated then adjusting the tie rods is next to center the wheel.
At that point there is a way you can set the toe fairly close and run it awhile before having to get an alignment to fine tune it after you find out what shifted.
Not knowing what was done when it was installed and how hard you wheeled it makes it hard to diagnose.
Check back and let us know what you find.
I have some ideas you can try before you go nuts about what to do next.
One thing would be to loosen the bracket and the drives side, set the steering straight and check to see if the wheels are straight and then tighten it all backup. It would have to be loose enough to allow the pass side to move. The drivers side cannot move much because of the two angles the bolts are place, unless, the bushings got wallowed out over time and when your pass side was loose.
Did you just roll over 88000 miles? I have about 55,000 but have not seen excessive wear on the drivers side but then I put in a sleeve at about 10,000 miles as soon as I saw the rubber bushing on the pass side bulging out.
I did alot of rock crawling during that first 10,000 miles.