brakes
Honestly I think it would be a huge mistake at 50,000 miles to not replace the rotors. You are going to save yourself what? $150 max and end up having to do it down the road anyway... Matching new pads with new rotors will ensure a nice smooth brake pedal with no annoying vibration or uneven pad wear.
I use Napa Ultra Premium rotors and OEM pads on all my vehicles and I think its the best of both worlds. I paid $75/each for the 4Runner Ultra Premium Napa Rotors which have a powder coated "hat" area and a very tough finish on the rotor faces. They really resist rusting and will probably last you past 100,000. I cant say enough good things about them, made in USA, reasonably priced and great quality.
In general I have found most OEM pad kits fit the best and will give you quiet brakes with minimal brake dust. The Toyota brake pad kits, like most OEM Toyota parts, work great.
Also.... REPLACE THE CALIPER SLIDE PINS.