If the tyres are both worn on the inner edges this sounds more like tracking, also if they are the same as the hyundai trajet then the camber is adjustable this can cause the tyres to wear on the edges, trajets also have problems with strut top mountings collapsing giving tyre wear problems and a clunk on the steering
ther is an AA website where you can check outstanding recalls , or better still contact the dealers you may get a new rack for free, as for the price it sounds fair if that is definatly the problem
hope this helps