I think I may have found my answer.
When to change the brake rotors
Here are the specs from Toyota:
Front brakes - every 5k or 6 mo for visual; every 30k or 36 mo for measurements
Torque specs:
Brake caliper mounting bolts - 137 lb-ft (19mm)
Service Specs:
Pad min thickness: 1.0 mm
Rotor min thickness: 29.0 mm
Max rotor runout: 0.05 mm
Parts:
Rotors - Toyota part # 43512-60191
Pads - Toyota part # 04465-60320
Tips:
1) Measure runout 10 mm from outer edge of rotor; rotor should be installed with all 6 lug nuts torqued to 82 lb-ft when checking
2) If runout > max, check bearing play and axle hub runout normal before replacing rotors
3) If rotor stuck on hub, use an M8-1.25 bolt in holes on rotors to break it free
4) Install new rotors in position with least amount of runout
5) DIY thread
6) Paul's Travel Pictures DIY
Rear brakes - every 5k or 6 mo for visual; every 30k or 36 mo for measurements
Torque specs:
Brake caliper mounting bolts: 74 lb-ft (17mm)
Brake caliper slide pins: 65 lb-ft (17mm)
Service specs:
Pad min thickness: 1.0 mm
Rotor min thickness: 16.0 mm
Max rotor runout: 0.20 mm
Parts:
Rotors - Toyota part # 42431-60311
Pads - Toyota part # 04466-60140
Tips:
1) Measure runout 10 mm from outer edge of rotor; rotor should be installed with all 6 lug nuts torqued to 82 lb-ft when checking
2) If runout > max, check rear axle shaft before adusting/replacing rotors
3) If rotor stuck on hub, use an M8-1.25 bolt in holes on rotors to break it free
4) Install new rotors in position with least amount of runout
5) DIY thread
6) Paul's Travel Pictures DIY