When my time comes, I plan to use this kit by Power Stop. It includes calipers, pads, and rotors - but is available without calipers. They have other kits configured to the 4Runner, just use the finder tool on the Power Stop website.
Power Stop Front and Rear KC5874A-36 Z36 Truck and Tow Brake Pad and Rotor Kit with Red Powder Coated Calipers
https://a.co/d/8B9WJAe