Indeed.
Toe in or out is the non-parallelism in plan view. It contributes to the stability of the steering, but is not the primary reason for self-centering.
Camber is non parallelism in end view, positive camber, as described above, is when the wheels are sitting perpendicular to a normal convex road, negative camber is the opposite, visible to a greater or lesser degree on lots of cars with sporting ambitions. It is used to compensate for the deflection of the tyres in such vehicles. I don’t have any idea why older vehicles used considerable positive camber, unless they used cart wheels, where the dishing is very limited. Ideally you would want the kingpin axis to coincide with the tyre contact patch in the end view, which requires the wheels to be dished.
Caster angle is more easily seen on a motorbike, the forks are typically parallel to, but offset from, the steering axis. Producing the axis of the steering until it his the road allows you to measure the trail which is the distance from this intersection to the centre of the contact patch. The angle effectively means that steering the wheel away from straight lifts the front of the vehicle, so gravity tends to bring the wheels to the straight ahead position. Trail does the same thing.
Sorry, rabbit hole...
atb
Simon