Of course?

And get a  front end alignment at the same time.

Put the front wheels on some slippery magazines so they move easily. Loosen up the tie-rod lock nuts. Center the steering wheel. Adjust the tie-rods on each side so that the wheels are straight and even on both sides (some folks like a little toe-in - persona preference).  Recheck centered steering wheel. Recheck adjustments. Tighten the lock nuts. Test drive.

[2015 Z Force 800 53/Trail EPS]

Also just to toss-into the mix, one of the weak points on the CFM's steering systems is the threaded area on the tie rod ends so the more that's exposed, the weaker that area becomes and becomes susceptible to bending upon impacts. Ideally, the rack and pinion should be centered, then the steering wheel centered to that position, then the toe set to spec and hopefully frame warp-age is minimal enough to allow both sides to expose equal..or close to equal number of threads. Your wheel is probably rusted onto the splines. If so just use the splines on any joint below it to re-center it. They are probably rusted as well but by removing the bolt you can spread it with any large screwdriver. Removing the tilt rod and the two side pivot mount bolts will allow you to slide it out. May take two sets of hands but..I did it alone.. so can you.