RAV4s from the 2006 through 2011 model years and 2010 Lexus HS250hs are involved.
Toyota says if rear suspension nuts aren't tightened properly after a wheel alignment, the arms can rust and separate from the vehicle, increasing the risk of a crash.
At least nine crashes and three injuries are related to the problem.
Toyota recalled the vehicles last August for the same issue, but a spokeswoman says the repair procedure wasn't correct.
Toyota is recalling 780,584 vehicles in the U.S. and 100,000 in Canada. Owners will be notified over a six-month period starting this month.
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