So I installed new Upper control arms and couple weeks ago and I’m wondering if I installed them wrong because now they are creaking real bad. I think my mistake was tightening them down while the truck was on jacks and the wheel was off. Can I just loosen them with the truck on the ground and then retighten them? If so will I need an alignment if I do?

 

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Yes

You should have an alignment done anytime you replace suspension/steering components.
This includes control arms.