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I'm not aware of a method to straighten trees. Just spitballing here, but if a method existed, I would think nurseries would be using it.
You could try staking above and below the bend in one direction and at the middle of the bend in another direction, hopefully exerting pressures that would straighten it, but I've never tried it and don't if: a) it would work, and b) how hard it would be to make it work.
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