If you backed your rig in, in a straight line, then you absolutely have a problem.
However, if you backed it in at a very tight angle, then you *may* not have a problem. Dual/triple axles do a lot of flexing and moving during turns, so it's possible two tires could touch slightly under extreme flex during a very tight turn.
I would suggest pulling your rig forward in a straight line for at least 10-15 ft. to take all the turning tension off the axles. Then I'd take a very close at the chassis (springs, hangers, axles, etc.) to verify everything's ok . . . even if the tires/wheels return to the proper position. You can't be too safe.