If your not replacing calipers and just compressing the pistons back for new pads, then there's no real need to bleed them.
just did my brakes a few months back. BEST advice i can give is USE the RIGHT grease for the brake pin slides!!!!!!!!!!!!!!!!!!!! do not use anti seize grease. use specific brake pin slide grease, there are other alternatives that i did research but use grease/lub that is for the brake slide pins. i used anti seize grease causing the brake not to compress smoothly which caused a seirging pulsating feeling.
other than that it is not a very complicated job and can easily be handled by the weekend mechanic. i did it with my 10 year old son. he was stoked to wrench w me!!
good luck!!
http://www.toyota-4runner.org/3rd-gen-t4rs/228213-what-kind-brake-grease-should-i-using.html
Brake Caliper Slider Pin Grease - Toyota Nation Forum : Toyota Car and Truck Forums
Do not use brake grease on your caliper pins - Toyota Sienna Forum - siennachat.com