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Yup, it is perfectly normal and isn't all that uncommon on modern IRS cars. Even the Honda Odyssey minivan goes negative on the rear end. From my understanding, there is a handling benefit to negative camber. Perhaps someone with more knowledge can chime in? Why negative in the rear and positive in the front?
 

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Just be on the lookout for abnormal tire wear. My tires look very good at just over 9000 miles. I probabily should rotate them but I just have not got around to it.
 

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I've had this on many new cars has never been a problem......make sure you rotate your tires at every oil change.
 
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