lms, saw the videos.

I'm pretty sure this is a caster problem like my pm to you.

My KIA Sportage 2000 has the exact problem of pulling to the left even though the alignment is perfectly straight.

http://en.wikipedia.org/wiki/Caster_angle
http://www.ozebiz.com.au/racetech/theory/align.html

It's not a huge problem, and if you don't fix it I suppose one can live with it.

Some front wheels can be adjusted for caster, and some can't, I dunno why.

Anther reason told be me by veteran mechanics, left side wheels and right side wheels have different wheelbase (center to center distance between wheels). In your case, since it is pulling to the left, then the left wheelbase is shorter than the right wheelbase. The difference is not possible to be spotted by the naked eye, so I think it's best that the wheelbase be measured accurately, and also the the caster can also be measured.

Pull right too? Well this is new to me... Sorry to hear you've got a lemon of a car. Other than smashing it with a sledgehammer right in front of Toyota office in the presence of the media, the only other solution is to sell it off and get another one. Saves you lots of headache!