After getting a fairly good deal on a '96 4Runner, I decided to upgrade the brakes to the '02 Tundra brakes. Except for the caliper bolts that were seized into place (WD40 + Impact Wrench = pwned), this was an EXCELLENT UPGRADE that had to be done anyways. I owe thanks to this forum for all of the research. Once completed, the stopping power was probably 2 maybe 3 times better than before. The old brakes were very tired.
For all of my parts, I used a 2002 Tundra, 4WD, 6cyl, as the reference truck. (199mm)
(2) x 2002 Tundra Rotors $65 ea. (Carquest)
(2) x 2002 Brake Calipers $159 ea. (Carquest) (S13WE)
(1 set) x 2002 Brake Pads $98 for both. (OEM from Toyota dealership)
Tools: 17mm Impact socket, 10mm open wrench for caliper bleeder.
Time: 1hr per side once you're set up to work.
Finished!