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I recently purchased a 2009 "CERTIFIED" Toyota Camry LE.

Foolishly I only checked tread depth on the front and rear on one side (thinking both sides are the same). Dealer put new tires in the front, but not the back

Mistake... When I take it home I notice that the rear passanger's tire has thread depth on the outside of 2/32" and on the inside 4/32".

Toyota certification calls for 5/32" MINIMUM

Took it to the dealer and they took it in the back to "check it out". Came back out and they had replaced that one tire.

They left the other back tire which has barely 5/32" on the outside and about 7/32" on the inside.

I had to leave (and the person helping me knew my time was short) but I'm planning on going back and complaining about this. On the drive to work (freeway speed) I noticed that if I didn't hold the steering wheel, the car would start to drift left. It was not doing this prior to the one tire change!?

What should I tell/expect from the dealer? Should I contact Toyota?  

First, cotacting Toyota is not going to help.  Toyota would be concerned about NEW vehicles and the way THOSE vehicles are sold and serviced.  They would NOT be concerned about the dealership's pratices when it comes to selling USED vehicles.  Even if Toyota were to interceed, the dealer would be within his rights to tell Toyota to "take a hike".

But you do have a point - and one you can argue successfully - that the tires are legally worn out, and that they sold a vehicle that was technically illegal to drive on the streets.  

Sorry if I wasn't clear on this point, but this is a Certified Pre-Owned Toyota with a 100,000mi bumper to bumper FROM Toyota.    

I would rather say that you go for a police complain. I will surely solve your problem.