No assist in these vehicles equates to virtually no brakes, and if my 100lb wife was driving there would be no difference at all. I am 6'2 , 200 lbs and I could barely stop. Sounds like lots of wives, teenage kids are driving these around, how does no assist feel to them?
I only wanted to post all this up, because there is not much information about the cheaper option of fixing this, mostly all I found that when someone asks everyone says, " just give the dealer $3200, that's your only option." There is a much cheaper option, you can find more about it here:
Brake Failure_uzj100 Power Brake booster repair- | IH8MUD Forum
More importantly, I'm sure many have no idea that when this motor fails, 90% of their brakes are gone. That's a huge safety issue and as these vehicles get in the higher mileage, these are all going to start failing. Electric motors wear out.
What system is more vulnerable to a failure, the old vacuum assist, or one that relies on an electric motor? You guys can put your families lives in the hands of that electric motor, that WILL fail someday, I will use what has been proven for the last 100 years, and every other vehicle I have ever owned.
More complexity does not equal better.
You do have brakes, unassisted brakes like the law stipulates; its no different than if a vacuum brake booster fails. You're trying to stop an almost 4,500lbs brick with MANUAL hydraulic brakes, that's your back-up fail-safe in the event your electronic or vacuum assisting device fails. It is no different than any other braking system out there in terms of when the assistive portion/electronic/vacuum portion fails. If you have never had to be in a vehicle this heavy when the brakes fail, then you are very lucky because manual brakes suck period and are much harder to manage the higher the mass of the vehicle. But the system worked as designed all the way into complete failure allowing you to stop the vehicle (granted with a huge amount of effort, but then again you need to understand hydraulics and some physics about the systems to fully comprehend why that is.)
As for the failure of the armatures, they're a brush motor; I would assume most if not all brush motors will exhibit this condition (starter motors and alternators of older designs being the most obvious example) at some point in their life cycle. You can't blame Toyota on a part that probably exceeded their designed life cycle (cars are not designed or built to last forever and these days they are very much a compromise between many many criteria), that's like people complaining that a TPMS Battery died a decade after they bought the vehicle (granted a TPMS battery failing is a lot less dramatic and danger prone than a brake motor failing.) It'd be the same thing with a vacuum booster having its diaphragm rupture, the casing rot/crack/rust away, and/or the hose breaking/deteriorating violently; you'd still be in the same boat.
Should the motors have been a brush-less design? Probably, it would have lasted longer but cost far more and drove the cost of the vehicle up vs. how long the current design held out. Keep in mind there are members in the 300k range with the original units on their vehicles still going strong (hell mine failed hydraulically at the master cylinder seal and not electrically) so while they may eventually all fail, there isn't exactly a predictive method to that theory beyond "It will fail eventually."
A vacuum system is just as prone to failing as the hydraulic units and even more so as the vehicle continues to age regardless of miles driven (where as the hydraulic unit might not fail just sitting there) as you're depending on a rubber diaphragm in a metal case that will start to rust/rot and is fed by engine vacuum which could be reduced/cut-off completely if engine vacuum drops too low, not to mention that is fed by the intake so fumes/chemicals could degrade those rubbers more if the vehicle has issues (a few of the main reasons why most manufacturers are switching to hydraulic systems is reliability and safety vs. older systems among many other reasons.) The 3rd gen 4Runners are not bad vehicle, but you're trying to elevate them to a pedestal that neither the 4th gen nor the 3rd Gen can ever achieve accurately (probably any vehicle made in the last 20-30 years for that matter.)
You are more than justified to feel anger, shock, horror, ect. at what happened; it was a very traumatic and very disturbing incident. But the reality is that your vehicle operated exactly as designed and stipulated by law in the event of a systems failure such as the assisted brakes portion failing. Just like any other vehicle made with electronic/hydraulic/vacuum assisted brakes, it is something that most people will never experience in their lives. But you need to understand some things about the way things work and how they are designed to see than while it was a very jarring experience due to a fairly odd failure (usually the hydraulically assisted unit sets DTCs/fails at start-up and/or the driver notices a change in performance of the braking system before it fully fails like yours did), your situation is not a common failure among the majority of Hydraulically Assisted Master Cylinder units on the 3rd Gen 4Runner (I believe in '00+ Limiteds came with the Hydraulically Assisted Units, though I am not sure what the exact years/trims are), 4th Gen 4Runner, 5th Gen 4Runner, FJ Cruiser, 2010+ Tacoma, '07+ Tundra, LC100, LC200, Prius, Prius C, Prius V, '07+ Sequoia, Camry Hybrid, Highlander Hybrid, GX470, GX460, LX470, LX70, LC Prado, ect. (it goes on a while)
Bottom line I'm just trying to point out that your emotion is justified and very well accepted; the direction that you are aiming it in the above post is somewhat mis-informed and mis-directed (and honestly not uncommon, nor unreasonable considering that most people don't know the engineering and thought that goes into these systems.)