Indeed I've had my share of frustration at alignment places as well. The Ford Twin-Beam front suspension mine has made this especially so, since it seems most mechanics aren't trained well (if at all) on working with these suspensions.
My tools of choice are a tape measure, two steel plates & two metal dowels, some chalk or a grease pencil, two eyeballs, and a trip around the block.
For toe alignment, I create a reference point on the tread of each front tire by drawing a line around the circumference of the tire using chalk or a grease pencil while rotating the wheel (with it raised). This eliminates the possibility of a wobble in the tire causing an error in the final measurement (it's not uncommon for tires to have 1/8" or more wobble in them).
(If the tire happens to be wobble-free, then a point on the tread itself is usually fine to measure from)
I then set the tires to be dead-parallel, or very close to it (I have not observed any benefit by adjusting the toe ~1/8" in, so I usually just set them parallel for best tire wear)
Camber angle is something pretty easy for me to see with the naked eye just by looking at the front of the vehicle with the wheels pointed straight, so I've never really bothered with tools made specifically for that. A camber gauge is certainly a worthwhile tool to have if you aren't confident in doing it visually however (one like what is demonstrated in that YouTube vid should work well).
Setting the caster angle involves driving the vehicle around the block to determine if it pulls to one side or the other (caster angle provides the return-to-center function). A pull to the left means the driverside needs more caster angle and/or the passengerside needs less caster angle. Vice-versa for a pull to the right.
When taking any measurement (except caster angle), I put the two plates with the metal dowels between them (dowels placed longitudinally with the vehicle) under one front tire (and a wood block of similar thickness for the other tire) to relieve any bind between the front wheels that can cause the suspension to not fully settle, leading to an alignment error (this takes place of the movable plates normally seen on an alignment machine).