Yes, a smaller steering wheel exaggerates everything.
Yes, you can drive it, but as was mentioned before, there’s no way to guarantee that simply installing a new track bar is going to make things better.
The good news is, you can do a basic alignment right in your driveway with hand tools.
I agree the drag link angle looks too steep, so a Pitman Arm would help. But something else is at work here, because your drag link and track bar are not parallel and they should be.
If there is no drop bracket on the frame, and no drop Pitman Arm, then they should be parallel just as they were from the factory.
Albeit at a steeper angle.
Have you determined how much lift is on the vehicle? Do you know?
Even if you do, take some quick measurements between the axle tube and the frame rail and post those up.
Also post a side shot or angle shot to show the upper track bar bracket more clearly.
Also, maybe a shot to show what steering box you have, just in case it’s not stock.
If your axle is within half an inch of being centered, there’s no reason it can’t be driven. No reason it should be so finicky. That’s why I posted that longish list of potential culprits.
Having your axle off center doesn’t make it steer crazy. Just makes it a little finicky.
So I still say you have other things at work here.
Get some basics laid out, and we can go from there.
One of the key things I asked about looks perfect. Looks like whoever installed the tie rod did it correctly. Or close to it.
The angle on the lower drag link end should be pointed upward at approximately 60°. Or basically where the zerk fitting points at the bottom of the radiator.
Yours might be a little more straight up, and could potentially benefit from being rotated down just slightly. But I’d leave it for now anyway until you’re ready to adjust toe.
And I would absolutely at least check the toe-in.
Lots of ways to do it, but I like doing it by marking the tread with tape and black marker at the edge of a lug so that you can simply hook a tape measure into it and then drag it to the other side.
This way one person can do it without having another person hold the other end of the tape.
You’re wacky driving could be 100% due to a toe-in issue. So at least check it…