I just saw IBallsEnginner's post when I finally posted mine. As I said in my long drawn out post follow up with him. Maybe you could post a picture of your alignment print out? That would help tremendously.
36 degrees? No way not possible You would be dogtracking in the opposite lane. Maybe 3.6? Problem with machine if it is 36 degrees! Just like IballEngineer, I dealt with alignment machines and techs. Haven't been in the field for a while, but I'll tell you one thing, there's more bad alignment techs out there then good ones trust me. Most of the time they just "set the toe and let it go" They do it because it's the easiest thing to do and since toe is a the largest tire wearing angle it's generally considered the most critical. ( and the fastest one to be returned for a realignment)
Your original problem was simply a toe problem as several forum members have stated. Crooked steering wheels was THE biggest complaint I received as an alignment service tech for the machines I worked on. Once again, as others have stated, the shop your going to has to get your wheel straight. If they can't and claim bad, worn parts, ANY competent tech should be able to find the problem by doing a 4 wheel alignment, looking at all the angles and doing a physical inspection of the truck. Alignments aren't just adjustments they also find bad parts.
Why they are just looking at the rear now is kind of odd as that's always where you first adjust then you go to the front. Generally speaking, 4runners only need a 2 wheel alignment, but most modern alignment machines need input from all 4 wheel sensors to create proper track and cross toe angles. To see that bad rear, they must have done a 4 wheel alignment. What they are saying about the rear is true, and I guess it does need to be addressed but I honestly don't understand how this all the sudden happens after they aligned it, assuming nothing caused by you in between (accident, major 4 wheeling etc) If the frame is bent I would be VERY surprised. Any suspension component problems like control arms, ball joints, bushings, etc they should have been able to identify and rectify. Yea, sometimes it's not easy, but that's why we take our vehicles to professionals. You deserve better. Make sure to follow up with IBallengineer, he seems to have the right connections to get you in touch with a good shop.