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Of course it can, but they need to have the right kit to do it, and it is not cheap ! As an example, my local independent has a rig and it cost £62k ! They set my wheels and everything has been good so far, you get very long tyre life if the set-up is correct.
Any newer alignment machine should be able to perform an alignment on your XJ. I've attached a readout of my alignment. As long as the front and rear total toe is lower than 20 you will be happy with the your handling.