1998 Ford Taurus Problem while backing and sometime driving

I was backing to parallel park and hit another truck's side with my driver side rear wheel or bumper, most probably bumper. Now when I try to back straight, the driver side back wheel does not remain straight. Instead it angles, like front wheels when I am making right side turn. Rest of the three wheels align straight. I have to switch it to different parking spot. Yesterday while driving less than 20mph, it rattled heavily as well and faded. Same rattling and fading now is frequent with it. My wife, in another car behind me noticed rattling with smoke as well. Any idea if I may be able to fix it myself given we know what's causing it? Tools, Time and skill level required? Cost to fix in NYC if I choose mechanic?
Thanks
Kiran