So I have a 2003 Highlander limited (4wd). I just returned from a 5000km trip to Florida and back to Ontario Canada. During the return trip I noticed that while turning right at highway speeds the rear end vibrated. I stopped a few times and check tires and such (lug nuts). Well today I noticed this again, so I angled the driver side mirror to view the rear tire. While turning right at over 50mph (80kph) the rear driver tire was shaking and wobbling. I stopped right away and checked lug nut again, all good with proper torque.
I drove the few miles home and jacked up the rear end. I pulled on the tire to check rear wheel bearing, they seemed good? I noticed that on the rear driver side that a stabilizing bar??? (Coming from the center rear, and on an angle to both wheels was leaking on driver side. I don't know what these parts called but looks like a tie rod/ stabilizing bar for the rear. And have a bushing/ boot that are leaking.
Any ideas?????

Thanks in advance.