both rear tires on my 97 taurus are worn out on the inside. What is the problem?

Alignment.

Failure to do a scheduled tire rotation~

Good morning there. Yep, that too UncleMo.....The '97 Taurus is a front wheel drive car and here is an image of the components of the rear suspension

I see no watermark, copyright, nothing to indicate it's not public domain, seems every image I post gets removed

Good morning Jim. Right on the money there.

On some cars, people will put their floor jacks on a suspension member and bend it. Check out that lateral link / trailing arm (G). It may need replacing before the rear axle can be aligned. --- A different factor that no one has mentioned is do you carry anything heavy in the trunk? Is the car lowered? A couple hundred pounds of tools behind the rear axle could make it squat low enough to wear the inner tire edges.

independent rear. when sagging from weak springs will lean in,or heavy load up. boost lift or flip tires every now and then

Thanks for the help people I'm taking it in to get the alignment done and to get the springs and struts checked. I'll keep you posted.