Autofocus problem with Nikon D7000 and Nikon 70-200 2.8 VR

I have a Nikon D7000 camera and using Nikon 12-24 f/4 and Nikon 17-55 f/2.8 lenses I had sharp photos. This spring I bought a used Nikon 70-200 f/2.8 VR lense. At 70mm it is sharp, but at 170-200mm I got blurry photos. After googling I found this good article: http://photographylife.com/how-to-quickly-test-your-dslr-for-autofocus-issues and followed this.

LiveView - 200mm - AF=0 ViewFinder - 200mm - AF=0 - Blurry
LiveView - 200mm - AF = +20 ViewFinder - 200mm - AF = +20 - Very very blurry
LiveView - 200mm - AF = -10 ViewFinder - 200mm - AF = -10 - Less blurry
LiveView - 200mm - AF = -20 ViewFinder - 200mm - AF = -20 - Sharp
LiveView - 70mm - AF = -20 ViewFinder - 70mm - AF = -20 - Sharp
LiveView - 80mm - AF = -20 ViewFinder - 80mm - AF = -20 - Sharp
Nikon 17-55 2.8 - LiveView - 55mm - AF = 0 Nikon 17-55 2.8 - ViewFinder - 55mm - AF = 0 - Sharp