Well, there are two adjustments on the VW steering box, but only if the play at the top of the steering wheel, when at rest, exceeds 1" back and forth when either sitting on the ground or up on a pair of service ramps. If it does:
1. Axial Play of the steering worm (the steering column) is adjusted on the front of the box. Axial play is seen by turning the steering wheel back and forth a half turn and noting if the steering column moves in and out right at the box. If it moves, then loosen the BIG locknut on the front of the box and adjust the front hex adjuster for no play (don't get it too tight). I make a hex adjuster out of a 12" long piece of 3/4" wide by 1/8" thick flat steel stock (Home Depot) with a 90º bend at one end to form an "L" about 1/2" long. That end should fit into the hex cup and allow you to turn the adjuster to and fro. The locknut is YUGE! - over an inch and there is no room for a socket, so I use a plumber's drain wrench (Home Depot) as it is wide enough and flat enough to fit up in there.
home depot plumbers wrench
The second adjustment is Worm and gear play (probably what you saw on Youtube), and is adjusted on top of the box. Start with the steering wheel centered, and then rotate it 90º to either side. Loosen the locknut on TOP of the steering box, back the screwdriver center stud off 1 turn, then slowly and gingerly (two fingers on the screwdriver) turn it back in until it just touches the worm. Tighten the locknut without further tightening the stud. Check for 1" play max with the steering when centered, then turn it 90º to one side, check again, then 90º to the other side, check again. If it has more play on one side than the other, re-adjust to that looser side for the 1" play.
Road test the car and take some 90º turns both left and right. The steering wheel should return to center and not "hang up" anywhere. If it hangs up, re-adjust slightly looser on the top adjuster til it returns from a turn without hanging.
That's the extent of adjusting these boxes without additional shop tools.
If you're wicked lucky, you'll have a threaded plug on top of the box cover to re-fill the box with Hypoid oil. If not, you'll have a couple of plastic plugs on top of the cover. Remove a plug (try not to destroy it, otherwise you'll have to find a replacement) and top off the box with 90-120 wt. Hypoid transmission oil. DO NOT USE AUTOMATIC TRANSMISSION FLUID. Yes, some will certainly leak out, but it's just oil, even if it's stinky - it won't kill you. Replace the plug and you're good to go. If the replaced plug leaks you can get a replacement (or a small rubber stopper) at a local hardware store.
Good luck!
OBTW: Tie rod ends are cheap. If the alignment guy tells you to replace it, replace it. You don't want to be driving and have one let go, believe me.