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When NASCAR changed from bias-ply tires to radials, they found they needed a lot more negative camber. So they'd bend the axles prior to installation, and those started failing. So the Powers That Be specified some amount of camber, and now that's what they all run.
I think some of the RWD live-axle cars do actually have some negative camber in back. But you can't really change it because it has to be designed into the housing.
Generally, negative camber will create a little bit of thrust to the inside, especially in the corners. It isn't much, but it will use a little tiny but of power. Again, not much compared to the scrub from having the toe angle messed up. Probably not worth worrying about.
I must say, I liked driving that one car with toe out in the back for a little while. It was really quite exciting!! Even more when it spun with little provocation and wiped out a wheel and one corner of the suspension--that was very exciting indeed!
-soD
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