If you have a flat garage floor, I've had good luck using a digital angle finder on the brake rotor for camber and Longacre toe plates for the toe alignment.
It's definitely not the proper way since you can only really do one axle at a time, but it works okay. The plates and angle finder were about $90 on amazon.
Also, instead of bearing plates, I put a two squares of heavy trash bag under each wheel and a layer of WD40 between the squares to act as a bearing plate. It's not perfect, but works better than just leaving the tires on concrete and having to roll the car forwards/backwards a bunch.
I've heard of people using cheap adhesive-backed thin plastic floor tiles for the same function.