I just changed the front pads my Taco which gave me a bit of a challenge at first until I realized they just slide out.... ("DOH") Every make is a bit different but in the end they are all pretty easy.
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Ah yes, good ol Yota brakes! Alot of newer vehicles have that 'fixed' caliper setup. I'm not a huge fan, but it is what it is. Glad you got it done!