So here's the TSB for "Pulling" that is supposed to assist technicians in handling these complaints (to give you guys a better idea of what Toyota is calling for), I know it only goes up to '14; but I think they just haven't updated it yet (some of these TSBs get updated in chunks rather than yearly.)
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The alignment specifications look pretty good for [MENTION=124707]sbayha[/MENTION], though I would have wanted to bring that passenger side a bit closer to zero myself. How bad is the crowning/angle of the roads in your guy's neck of the woods? On my way back from Tahoe this weekend I noticed my 4Runner tended to drift on the freeway with the very deep crown/angle of the freeway for drainage and needed a bit of correction. But on flatter sections when getting closer to the Bay Area it went straight as an arrow, a lot of the streets in my area are also not flat so I notice a drift there as well. You can only align a vehicle to track straight on flat roads really, because even if you adjusted it a bit for the average crown in your area (which is common in some heavier rain/snow areas) the moment you went on a road with a different crown angle or that was flat it would drift.
(I know it's a 4th gen, but the suspension is the same; this is my current alignment specs as of last weekend)