I rotated my tires at 5000 miles at the dealer. I have 9200 miles on the car presently and noticed that the front tires are mildly cupping on the outer edge. I checked and saw that the rears had also cupped (I'm assuming from when they were on the front).

The dealer should have noticed this when they rotated the tires and corrected it then.

I'll be taking this back to the dealer next week. It does not pull, it does not shimmy. I had to see dust on the tread in my mom's driveway to see the cupping and then when I looked hard I could feel it.

I've seen threads where people said their cars pulled to the right. You may want to check this closely as you may not see any symptoms.