New hubs are not required but I always install them anyways. Not all that expensive. That way I do not have to cut off the bearing race, which I always seem to have to do which can be a pain in the ass depending on how close the race is to the hub wall. Also, you get new wheel studs ready to go. And... I do not have to worry about damaging the original in removal :reddance:
I am in Arizona, we do not rust much here which is the reason I usually just do the job quickly on the car. Everything goes pretty smooth. But again, I have not done a bearing of this size in this way. So will be able to give a thumbs up or down when I do it. And as stated... we do not rust here so that is the majority of the battle.
If you want to do the job without hubs, they sell just the bearings and seals for $179 shipped (the toyota branded prices listed above are actually cheaper by $10 if purchasing without hubs just to note). Koyo are the OEM bearings as is Aisin to toyota water pumps, and 10K other toyota oem parts.
1996 2002 Toyota 4Runner 4WD Front Wheel Hub OEM Koyo Bearing Seals Pair | eBay