2000 Lexus ES300 Steering problems

Takata recall the back suspension on the car feels like is you have no control she you hit a bump or need to maneuver there's so much body roll that it feels very unsafe and I think it's also damaging the breaks because they wear out fast and not at the same rate. There is also is rust around the wheel well and even a whole in the trunk you can see through to the ground. The brakes and rear suspension definitely is a huge safety concern. I was just driving when I heard a noise and it's just been getting worse. I haul kids in there and if I could afford I'd just do I just absolutely can't. Thanks, mark