The angle of the tires you describe is known as "Camber". Camber is the angle of the wheels in reference to an imaginary line perpendicular to the ground.
Due to the suspension geometry of the Pathfinder, the camber will change a bit with ride height. That means, with the front wheels off the ground you will have positive camber, with the tops of the tires angled away from the car. With a lot of weight on the front wheels, you will have negative camber, with the tops of the tires angled in towards the car. At normal average ride height the camber should be zero, meaning the tires should be straight up and down. If the tires aren't straight up and down when the car is sitting on the ground on its own weight, then you have an alignment issue. The 1997-1999 didn't have adjustable front camber from the factory, so in order to get a front end alignment you would need to buy a "Camber Correction Kit". These kits includes two new eccentric strut bolts to replace the standard upper strut bolts that hold the strut to the knuckle. These bolts are very cheap, an they allow front end alignments to be more precise, increasing tire longevity, handling, and ride quality. The 2000-2004 may have these bolts installed from the factory, but I'm not sure. The way the bolts work is simple, it looks like a regular bolt only the head of the bolt isn't in the center of the threaded part of the bolt. When you turn this bolt, it changes the angle of the front tires. Alignment shops can use these bolts in conjunction with their laser alignment tools to fine tune your front camber until they get it 100% on the money.
Before you go spending money on an alignment, I would check for any other issues with the front suspension. If you have play in your wheel bearings, tie rods, ball joints, top hat, or strut bearings the alignment will be completely inaccurate and the shop might even refuse to do it. As far as your wheel wobbling issues, check the ball joints for play as well as the wheel bearings. The wheel bearings are usually a common source for play in any vehicle. Also, when looking for the source of the noises you're talking about, don't overlook parts like the sway bars or sway bar links. They can sometimes make more noise than you might think.
I know I've only had my Pathfinder since January, but I have had the front end torn apart to know the things I posted. I've also been working on cars my whole life, and the last time I took a car to a shop for repair was when it was under warranty 5 years ago. I do 100% of my own auto work, and everything I posted I have done on some car or another, some things many, many times over. If I can do it, you can too. The financial benefits of doing your own work can be substantial if you don't mind getting a little dirty. I recommend everyone tries it sometime. Most times when a shop gives you an estimate for $500+ worth of work, it only costs them $50 in parts... Just keep that in mind. (IE Timing Belt, Water Pump, Fuel Pump, Head Gasket, ect...)
