I'd bring it to the dealers for the alignment, and tell them it looks to be sagging in the rear. They should check the ride height and check for any worn or damaged suspension components.

The rear tires are supposed to have about 1.5 degrees camber for handling reasons, but it is apparent from the tire wear that you have not only too much negative camber but the rear wheels are most likely toed out rather than in. I would definitely advise to go to the dealers for the alignment as they will know what to look for... firestone likely couldn't point at the lower ball joint for a $5 tip.

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RIP 4.6is.....

2003 4.6is