FWD lifting rear wheel... Bad??

[Xian]

Yep... Well tuned FWD cars will always end up lifting a rear wheel. How much/how far that rear wheels lifts is indicative of total front grip and roll rate. Personally, I've found the fastest setup (and coincidentally easiest to drive also) has limited rear wheel lift. Is it there? Sure. Is it a foot in the air? Nope.

[Flyinglizard]

The FWD race car is limited by dynamic loading of the outside front tire. Anything that can reduce this loading will allow higher turn speeds. That is why the inside tire needs to be a little up.
Controlling the inside rear tire; you can lower the tire with wider track on the rear, wheel spacers as little as 10mm wil have some effect.
Accounting for the driver! Most LHD race cars will lift the right rear tire more than the left. Toe out the LR tire 3mm or more so that the dynamic weights are closer to even, yes the car dog tracks a little, yes it may go faster.
Raise spring rate and lower sway bar rate.

The farther outside the rear tire tracks than the front tire , the more weight is balanced front to rear and thus has a higher overall all speed potential, more equal tire loadings etc.
This is one reason why ¨dynamic rear steer¨ goes faster, less front tire load/more rear tire load.