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It's because we have a rear beam suspension. The beam itself is sort of a U shape when viewed from above, and the stub axles are bolted on the ends of the U. Typically, If you tweak one side, it is the length from the frame mounting point to the wheel that bends, though it is possible that the frame bent slightly at the mounts. If that was the case, the rears are tied together by the beam and the other side should have the opposite alignment problem.
VW had the same problem with Golf and Jettas through the 80's. Their fix was a shim kit that they could install under the stub axles to angle them. My old Bentley manual had a few pages of charts to convert the camber and toe readings into the appropriate shim sizes. It appears that Toyota has not bothered...
A good shop should be able to figure it out for you and fab up a shim, but it might be cheaper to get the entire beam replaced than to go to this effort. Of course, make sure the beam is bent before spending the money. You could likely replace a lot of tires fo rthe same cash, as long as it is not so bent that driving safety is compromised!
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