Alignment

You can do an alignment any time. The tires will simply start wearing to match whatever changes the alignment makes. If you have been keeping them rotated and none are showing odd wear you may not need an alignment. Or are you seeing wear or other problems?

When I try driving straight the vehicle goes left.

Does the steering wheel try to turn left or does it just pull left? That can also be a sign of a bad tire.

It pulls left. for example; if I take my hands off the steering wheel while the car is still moving.

That can be alignment but a low or damaged tire can do that as well. First I would verify that all the tires are inflated the same, then I would rotate the tires and see if the pull changes or goes away. If it does then it's a bad tire. If not then it's time to check out the alignment and the front suspension for worn parts.

Worn parts like the tie rods ?

Tie rods, ball joints, bushings all can wear and make the suspension act strange, pulling, wandering and more are the result. Another item that can cause pulling would be a brake caliper that is not releasing fully.