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I'm no expert on alignment, so take what I have to say with a grain of salt. Here's my understanding though:
You don't necessarily want zero camber or caster, and manufacturers often spec non-zero values for vehicles to change handling characteristics, stability or fuel economy.
My Insight calls for:
Front
Caster : 2° +/- 1°
Camber : 0° +/- 1°
Toe : 0mm +/- 2mm
Rear
Toe : in 3mm +/- 3mm
Camber : -1° +/- 1°
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