So I just replaced the lower ball jounts, LCA's, and inner/outer tie rods in my car. I counted the turns/measured with caliper to try to get them as close as I could but I apparently didn't get them close enough as the steering wheel is chocked about 10 degrees to the side when driving straight. Looking at the wheels from the front they look fairly straight and when driving (only got up to 30 mph) the car seems to drive fairly straight given I have the steering wheel canted.

My issue is while there is an alignment shop just down the road I really wanted to get it done at a shop about 20 miles away that does lifetime alignments. Do you think I would be ok and not cause significant tire wear if I drove the car to the shop 20 miles away and just kept it under 40mph the whole way?

 

You'll be fine for 20 miles.

If you're really worried you could do a string alignment in the garage before you take it up there. Fishing line, 4 jack stands and a decent ruler can get you close enough to impress the tech doing your laser alignment.