The face of the hanger must be parallel to the rear wheel plane for the RD to work properly. While there might be some issues of camera angle, it seems fairly clear that the hanger is pushed in at the bottom.
Even if you could adjust the limits to accommodate the RD position, you'll never gt good shifting because the RD cage is at an angle to the cassette.
Squaring a hanger requires a special tool, so it's your call whether you invest $50.00 or so or let the local shop do it for you for $10-15.00.
If you're skilled, you can also do the job with a 10x1 bolt, and a tri-square and ruler. It's slower than with the tool, but workable.
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