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Camber bolts from Toyota are super cheap and easy to install, so I would do them for sure.
Otherwise, I'd learn to drive the car within its capabilities, which in the case of your heavy front tire wear means you probably need to enter the corners faster, maintain your throttle a bit longer before getting on it. IMO, the car is understeering because you're getting on the throttle a bit too soon; the steering wheel needs to be unwound just a bit more first. The understeering is eating your front tires.
Also, I would not go any higher than 35PSI cold. Check them when hot; I would not want to see much more than 38PSI hot.
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