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Looks like no remedy yet:
At the present time, Toyota is developing a remedy for this safety recall.
What is the Condition? In the Rear Suspension Arm No.1 Assembly ("arm"), if the nuts for adjusting the rear wheel alignment are not tightened following the proper procedure and torque specification when vehicle alignment service is performed, backlash may develop at the thread portion of the arm (shaft and turn-buckle), followed by formation of rust. If this occurs, threads may wear, causing the arm to separate, which could result in the loss of vehicle control.
When will the Remedy be Available: Toyota anticipates that it will take several months to prepare the remedy. At which time, Toyota will re-notify owners of covered vehicles by first class mail. If a driver hears an abnormal noise from the rear of the vehicle the driver should contact any authorized Toyota dealer for diagnosis."
2009 RAV4 Base I-4