World Align is a Blender add-on for orienting meshes without measuring angles by eye. You select faces on two sides of a model, and it either aligns the object to the world or bakes the object's rotation angles into its transforms, depending on the option you pick.
The add-on is built for a handful of specific tasks: baking the rotation angles of a rotated object with reset transforms, orienting an object parallel to the world with reset transforms, and aligning a cylinder that has an odd number of segments. The two sides you choose don't need to be perpendicular, and you can select multiple faces per side. That last point helps with surfaces that aren't perfect and carry some noise, such as 3D scans.
World Align lists support for Blender 2.8 through 3.0 and ships under a Creative Commons license. Documentation is provided, and a demo video is available. It was published over five years ago, so it's worth checking the developer's page for current compatibility before use.