Rear can be re-centered.
There are 33 steps in the 6870 rear derailleur adjustment. Put it in adjustment mode, adjust the derailleur all the way to one side and then move if 16 steps to the other side. It will then be centered.
Then just follow the
FD-6870 dealer manual exactly. Set it up as if you were installing a new derailleur for the first time and it will be fine.
-Tim-