My braking is really sluggish, and has been since I've owned this vehicle. I'm afraid that if I really need to stop quickly that I may fall short.

I've read about the Tundra brake upgrade, is this generally advisable to an otherwise stock vehicle that isn't off-roading? It's just mainly normal city driving, some highway, and very rarely maybe some gravel hilly roads and what not.

Please excuse my ignorance when I ask: What all do I need for parts? Should I replace front/rear rotors and pads? Also replace brake lines? I see kits on Amazon that include rotors+pads, any you recommend or suggest I steer clear of? I want to spend less than $300 in total for PARTS (pads, rotors, lines) if possible.

I always like bringing my own parts to the shop when I have work done because anytime I've taken any vehicle to a shop and they replace stuff, I see the line item on the receipt that so-and-so was replaced but rarely do they specify the brand, they just list the price. I'd rather get something quality and bring it to them to put on. (I'm not going to work on a mission critical component like brakes myself)

 

When was the last time the brakes were bled? The fluid absorbs water over time, and that affects it's properties. Also, if there's air in the system, it can do that. Also, if the LSPV is got a buildup of dirt in it, it may not be applying fluid to the front portion of the system properly.

Have you checked the vacuum applied to the booster? If there's a vacuum leak, the booster may not be performing properly.

Does the rear axle have a fluid leak on the ends? If so, the rear brake shoes are shot. They would have to be replaced if they got oil on them.

 

Properly adjusted and working rear drums and working e-brake that is periodically used will solve any braking issue on a 3rd gen 4runner, the front calipers require little to work properly except metallic pads and decent guide pins, avoid ceramic life long pads on these. TBU is overrated IMO after driving these for 15+ years and 3 different 3rd gen 4runners.

 

The Tundra brakes are the rotors, calipers, and pads. You will need to trim a little metal off the dust shield. The existing brake line works with the Tundra caliper.

The brakes aren't used very hard while off roading, this upgrade makes more of a difference in city/highway driving. Some people don't seem to have issue (like Malcolm above), others do. Probably a matter of how you drive, where you drive. My wife had repeated issues with warped brakes on her '96, replaced the rotors with good Brembo in the original 4Runner size, it happened again not long after. Then she put on the tundra brakes and no issues since. So when I got my '99 and had similar issues (pulsating brakes at speed) I just jumped straight to the Tundra brakes. And same result, no more warped brakes.

 

I do see economy rotor/caliper/pad sets on Rock Auto for under $300, but most mechanics won't really appreciate you bringing your own parts.

Their parts = a little added profit. They usually get better pricing from parts suppliers than you do, but then they charge you retail.
Your parts = headache. They might not be the right parts, they might be crap parts and you'll be back soon complaining that they don't work right, etc.