If this was my Rav I would take the car at speed on the highway where it likes to dance and have a friend parallel you looking at the tires
to see if they are oscillating or bouncing about. In their cell they can shoot video if need be. If a bad strut or out of balance tire will show. You just cant see it from the driver seat.
I would find an independent alignment shop that has been in business at least 15 years or so. NO chain shops you want a specialist. If necessary go to you old school auto parts store and ask for a recommendation they know everyone especially independent long term shops.
Get the suspension specialist in the car with you and let him drive it at speed before any work is done.
Areas of concern to me would be Bad bushing holding the steering rack in place. Bushing holding the rear track alignment, Loose unit bearings or a bad strut.
Isn't you car under warranty with Carmax. When I bought my Nissan from them they were very good about covering the warranty repairs. At the time just pay the $50 deductible and they fixed it. I would't volunteer anything about the trailer.
What ever you do you need to get the mechanic's butt in the seat next to you to really identify what is going on so it can be properly addressed.
The scariest car I ever drove was a 1976 Mustang 2 with the infamous Firestone 500 tires
. The tires
and car drove straight but the car had a 6 inch wallow on the freeway at speed. It rocked side to side like a baby in a rocker. It was smooth but very unnerving as it wallowed side to side on the flex of the side walls.
A change in the tires made it all go away.
I hope you resolve this to your satisfaction.