i have had this car for about 5 years and have never had prblems with this issue, know the front tires are michelin XC LT4 and the rear are DAKOTA DEFINITY H/T I do alot of driving because of my job, what i did notice was the air pressure on the rear tires was about 27 lbs, but I thougt that if the tires were low on air they would rear on both sides and not on the inner part.
OK, you've had it for 5 years and never rotated anything. That establishes a baseline, although not a good one...
Since the 80 series is AWD, you should have 4 matched tires. Otherwise, the slight differences in diameter can cause a variety of issues, depending on the mismatch. In your case, it would not surprise me to find out this is the cause of your strange tire wear pattern.
The primary way you keep matched tires close to the same diameter is by rotation. Unless you've put very few miles in that vehicle, you're way overdue for that. A 5,000 mile rotation schedule is probably a good one, right off the top of my head and without looking at the owners manual for guidance.
My best guess is there's nothing wrong with the rear axle to cause this. Since it's even on both sides from what you've indicated, it's probably not a bent axle.
BTW, not sure about Dakota's, but 27 lbs psi sounds rather low for a tire on an 80 for on-road driving. Low air pressure can also cause weird wear patterns. Not sure if that's a factor here, too, but it could be.
I'd get a set of matched tires, put them on, and monitor tire wear closely. Most likely, they'll be fine -- providing you rotate regularly. Do check the manufacturer's tire specs to assess where the psi should be in accordance with the actual weight on each tire. The door sticker will give you guidance on stock tires, like the Michelin LTXs, but truck tires will use a different, higher psi range.