This is my 4runners alignment before my lift, obviously note the rear alignment:
This was immediately after the lift:
And this is a few months after, with some weight added, but no adjustable bar or drop bracket:
I can tell you from experience that my rear tires DO have some cupping. Nothing a regular tire rotation doesn't help, though. My rear axle is definitely NOT pointed straight. In fact, both rear tires are pointing to the passenger side of the truck by half a degree. I have no supporting modifications for my lift; stock arms everywhere else.