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It needn't be visibly bent for it to affect shifting performance.
This very much.
That tool is always the first thing I grab when the rear derailleur is not shifting exactly as it should, the alignment tools not only tell you whether it's slightly off, but you can also use it to bent it slightly back, which is probably the case with your.
edscoble
Cable could be clamped on the wrong side of the bolt and the angle is throwing the pull ratio off (I've made this mistake on front mechs) but it really really really sounds like a bent hanger.
It needn't be visibly bent for it to affect shifting performance, add to that the fact its very difficult to actually 'see' a bent hanger because all the stuff around (spokes, chainstays, seatstays) have their own angles, curves etc and you arrive at needing to check it with the correct tool.