I've not spent a lot of time with modern road suspension and thus it was interesting to see that they are using rubber bushings on all ends of the suspension arms. The rotating movement at each end of the rear suspension arms is taken up by "flexing" the rubber annulus between the inner and outer sleeves of the bushing. There is not "bearing" function that lets the arm rotate freely. This is an inexpensive way to achieve rotation and provide vibration isolation. Tesla uses larger inner aluminum sleeves which reduces the rubber annulus an increases bushing stiffness over cars like MB and BMW. That being said, the lower control arm bushings are HUGE which makes sense given they carry most of the load. They also introduce flex that would otherwise not be there. I've not checked on this but I would imagine bushings would be one of the major differences between a five series and the M5.
I wanted my first pass to be conservative so I (1) added a little more meat all the way around the parts I made and (2) used the stock bushings. The next step is to machine some urethane bushings. Suppliers are a dime a dozen (
http://prothane.com/). These would remove a lot of the flex in the upper arms which would not be that noticeable. I suspect the big gains would come from doing the lower arms and the drop link (that second link forward outboard of the lower control arms). This is where you will sense movement and it will be in the form of an uneasy, nervous or "slimy" feel in the rear when under load. My plan is simply to order these parts from Tesla when they become available. The sway bars could also use some attention. I will likely use Tesla's unless they are stupid expensive. Like bushings, sway bar benders are a dime a dozen and Addco is just down the street from me. Lastly, the dampers could use more bump and rebound. I've looked into having the stock units revalved and most air suspension shops only deal with the air springs (the failure point) and not rebuilding the dampers. The easiest thing to do would, again, be to buy Tesla bits. If not, Bilstein Performance in California might be willing to do them. Tesla should be cheaper here.
Now for the zillion dollar question and this will only be my opinion. I believe BMW, MB, Audi and the like put a lot of negative camber in the rear of a car to save people's butts. The go to survival instinct when you get into a corner too fast is to lift off the throttle. Lifting transfers weight from the rear of the car to the front (assuming rear wheel drive) and induces over steer. You lift because you are scared and the lift becomes a self fulfiling prophesy. Putting more negative camber allows the car to roll weight onto the outer less loaded part of the contact patch when lifting while turning thus giving more margin of safety. Camber is also used to control the contract path on race cars but I really do not think that applies to street cars. I think manufacturers simply use it to add margin at the expense of tires.
I have no problem with street cars and over steer. With exception of a very small number of cars that are more neutral (Carrera GT comes to mind), almost all street cars will push (under steer) when you lean on them. Removing some rear negative camber to make the tires last longer simply removes a little bit of that built in push. I've not wailed on the tail of my MS yet (just drove it home from the alignment shop) but I can not imagine MS is any different. I suspect it will be almost if not equally willing to have the fronts start to plow. In short, it is an absolute no brainer for me and thus my willingness to dive right into having arms made.
Lastly, the single most valuable exercise I have ever found for learning car control is a wet skid pad and someone in the passenger seat that knows CPR. I'm not talking heart attack CPR here but the Correct, Pause, and Recover steps that form the ability to catch the rear end of a car when it gets impatient wants to go first. The amount of input required and length of pause are all related to the mass and polar moment of the car. MS is a beast so I imagine you could have a bit of a conversation during the pause portion
Watching Montoya in the Parabolica will give you a good idea of the other end of the spectrum. Anyway, it is super cheap fun. Get a few guys together, rent a skid pad for a morning, spray some water on it then go have fun. I normally leave with sore stomach muscles from laughing so much. Making it a wet skid pad even keeps tire wear down.
The direct answer is, get comfortable with the rear of MS on a wet skid pad and I think you will come to the same conclusion that going from -2 to -1 degree of negative camber is a no brainer. I'll bring my car for reference and I doubt there will be much, if any, real difference.