Your wheels were like this because the lugs were stripped, not simply because they were overtorqued.
next move would be tierods
Tie rods are most definitely not the issue.
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Cake day: October 27th, 2023
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This has IRS.
This looks to be a 2010-2015 Hyundai Tucson.
OP, could you provide a bit more information? Did this occur randomly or as the result of some kind of impact, and are there any unusual noises or vibrations?
Also, if you could get down on the ground and take some photos of the rear suspension and inside of the wheel it would be quite useful to determine the cause of your issue.