EZ task. Just plan on replacing the rotors. Pads are easy too. If you have a vernier caliper, just measure the "depth" of the pad to the backing plate. Minimum is 1 mm or 0.040 inch.
No special tools are required. Basic wrenches, needle nose, BFH (Big FN Hammer).
Remove wheel, place a lug nut onto a stud to hold the rotor in place while you remove the caliper. 2 bolts on the caliper. I think 17,18 or 19 mm socket. Use a piece of high tech string to hang the caliper from the coil spring while you work on removing the rotor. Back off the lug nut a few turns, use the BFH to influence the stuck rotor. There are a couple of jack screw holes in the rotor to help removal. Sorry, don't know the thread size. Beat, heat, penetrant, swear.......it'll come off. Don't be afraid to be aggressive. On install, a bit of anti-sieze on the hub and rotor contact points is helpful in the future. Put the lug nut on to hold the new rotor in place. Use brake clean on both sides of the rotor, then do not touch the pad surfaces.
There are 2 guide pins on the caliper held in position with small hair pin clips. Remove the clips and the pins. The old pads will slide out of the caliper. Compress the brake pistons (4) into the caliper. Mind the brake fluid reservoir up top to avoid over flow. If the pistons won't compress, then you have a problem that may require a new caliper assembly. Assembly is the reverse.
Numerous vids on Utube and I'm sure your Toyota repair guru has a vid.
Easy work, allow roughly 90 minutes per wheel.
Suggest NAPA as a source for parts.
Good Luck