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Zero toe angle will give you the least amount of rolling resistance. Something near zero camber as well, and I don't think caster angle makes any real difference.
Zero static toe will tend to make your car wander a little bit, as the compliance in the bushings of the non-driven wheels will tend to lead to toe-out, which is dynamically unstable. If you've driven a car with toe-out, you probably know the feeling--the ability to change lanes without realizing it when you look down to change the radio station.
Static toe-out is even more squirrelly, as you get even more toe-out at speed.
Even with zero toe-out when the car is at speed makes for a car that tends to wander and hunt. It will like to follow any grooves or ruts in the road as well.
I don't think that having dynamic toe-change with speed will be worth the complexity. Having toe angles that change as the suspension compresses (presumably from the car going around a corner) can be; that's more or less what the aforementioned Weissach axle does. There are some other designs that have similar features, like the "passive rear steering" in the 1988 CRX Si models. Though it seems like that was done for less stability and more agility, unlike the Weissach axle which was designed for more stability.
-soD
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