The SAI is off as indicated by the red highlight areas. That is not adjustable but usually points to bent parts. It seems unlikely that both sides wold be bent almost equally though. SAI definitely affects driving feel . Those numbers look low to me, I thought most Toyotas like that one would be closer to 12, but I could be mistaken. To have as severe of driving problems as you have , and have caster and camber sorta normal , something is seriously out of whack. I thought tires too, but you have pretty much eliminated that . You are going to have to find a guy with the knowledge , equipment and desire to figure out whats screwed up and find a way to correct it. That car should drive effortlessly and beautifully if all is in order. Does it pull equally while under power and while coasting ?
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