Install new rear adjustable control arms, then take it to have the wheels aligned, and all will be good again! I had to do this on my 1st gen V years ago, and I went with a set of TRW ones I bought on Amazon (Borg-Warner's are the same too). Worked like a charm! What happens over time, is the bushings on those upper control arms dry out and/or crack and wear out, and/or the metal of the arms can also fatigue and bend slightly. The adjustable ones are sturdier too. Solid pieces of steel. I just don't know why Honda doesn't go with adjustable rear upper control arms from the factory, so owner's can get the camber adjusted when it's time to do wheel alignments, so the rear doesn't end up eventually squatting like that and wearing out the inner edges of the tires? 🤦🏻‍♂️ Perhaps, they're just doing that because they are lighter, and they want to keep the weight down. IDK? Btw, the adjustable ones are pretty inexpensive too. But, labor to have a mechanic install them might cost a couple hundred bucks.