On the rear it might not be the vcu it could be your tie bar bushes worn when Freelanders were first made a lot of people complained about this, and LR said that it was a suspenion fault and need to be adjusted , but if the bushes are worn out it will produce the same affect i have just done the wifes car with new bushes as it suffered this problem , but once tyre start to wear you will not stop them from going all the way like that,