You know, if I were a pro doing an alignment, first thing I would check is for anything obviously wrong - e.g. wiggle everything to check for tightness. But I think a lot of shops don't, from my experience. It sounds like you have something loose in the rear, either a loose attachment bolt or worn out bushes at the suspension arms or subframe-to-body. Wiggling rear wheels while on the ground should reveal the former, inspection may be needed to determine the latter.
Steve
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'91 MB 190E 2.3
'08 RAV4 Ltd 3.5
'83 Lazy Daze m'home 5.7
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