98 F150 4x4 E/Cab - Went to change winter tires, see excess inside wear on inside of both front tires. A closer look, it appears my passenger side upper control arm bolts are loose, and top of wheel pointed inward. Is there an easy way to reset myself, or am I stuck with the $125 alignment cost?

Is there some sort of rigid washer available to help keep in place, it also appears the ridges on the control arm housing are a bit stripped (smoothed).

 

You need an alignment. The bolts should have washers that are cammed to allow the arms to move in and out from the frame when you turn the bolt. This movement is there to adjust caster and camber.