Alignment and slight shake

I have a 2107 Crewmax 5.7 with 34,000 miles, at 65 or so I have a slight shake and it also pulls a little to the left. Thinking about having the tires rotated and balanced but also a front end alignment. My question is this, do I need a 2 wheel alignment or 4 wheel alignment, I’ve always just had a front end alignment in my previous vehicles.
Thanks

 

Since the trucks have a solid rear axle, they'll only do a front end alignment. The rack will be hooked on the rear tires to give you numbers, but short of shimming or re-welding the brackets, there's not a ton that can be done in the rear.

 

Thanks I appreciate that.