Probably need more information to answer these questions. I assume it's on a GX if it has height sensors. What kind of tires, how many miles on the tires? How many tires is the wear on? Who installed and balanced the tires? When was the last alignment performed?
Have you noticed the rear of the vehicle at the wrong height? In my experience, it will ride like a low rider or a dump truck when the sensor(s) go bad. Are any of the shocks leaking? GX shocks can start leaking around those miles, but doesn't necessarily mean they aren't inop.
Normally, feathering on the inside indicates an alignment issue. If it's cupping (uneven tread on outer) it could be a shock, balance, and/or bad tire issue. If it were me, I'd have it aligned at the dealer first and go from there. It won't save a feathered tire, but could indicate the cause of the problem.