If the ABS/booster motor is running constantly it's usually either the accumulator and or ABS/booster pump is bad and not building up pressure.
Many people just replace the entire master cylinder/booster assembly just to make sure everything is working, instead of throwing different parts at it until they get it working.
Accumulator part number is 47950-30010 ....link...
2001-2005 Toyota Motor & Pump 47950-30010 | Toyota Parts
Pump and accumulator assembly part number is 47070-30060 ....link...
2003-2009 Toyota 4Runner Power Brake Booster 47070-30060 | Toyota Parts
Complete master cylinder/booster assembly part number is 47050-60010 ...link...
1998-2003 Toyota Actuator Assembly 47050-60010 | Toyota Parts