Yessssir, the higher the camber thrust (leading to scrubbing because of negative camber when driving straight = wheel drag) the lower the efficiency. Measurably so as I recall Lolachampcar telling from his racing experience.
Because the outer radius of the tire (from hub to ground) is longer it has the longer leverage, which is why the inner (shorter) radius is the segment of the rubber that gets scrubbed off.
This is somehow counterintuitive, because it happens even though the pressure on the inner radius is higher and the car leans on the outer radius more in turns. And it explains why even usually well behaved citizens who don't floor it at every redlight and do not go around turns on two wheels see it happening on their cars.
An additional reason adding to this could be the squatting of the rear on heavy linear acceleration (known to occur in the Model S at times:wink
which further increases negative camber and adds linear slippage forces. And linear grip is indeed reduced in higher negative camber vehicles.
This said, some negative rear camber (-1.3 to - 1.8) is good for fast turns and road safety. If the rear camber is less negative than the front, the car will eventually spin (oversteer) in turns entered at higher or excessive speed or when braking becomes necessary, and which is a very dangerous uncontrolled condition.