Best way is to take it to the dealership or a machine shop. If you want to get it started jack the truck up using alll the saftey mesures (jack stands, chock the wheels, etc.).
1. Disconnect the emergency break cable, there's a pin with a cotter pin that holds it to the e-brake lever on the backing plate.
2. Disconnect the brake line from the back of the wheel cylinder. Be sure to use a brake line tool or a pair of vice grips to GENTLY pinch the rubber brake line hose so it won't leak.
3. There are 4 bolts from the axle houseing to the backing plate that hold the axle in, remove these 4 botls. After this the axle should pull out.
That's the easy part. Now to get the bearing out and replaced everything needs to be pressed apart and back together which requires a special tube to use with the press. There is a retainer, reluctor ring, snap ring, retainer, bearing, seal (in that order) which all need to be purchased. Purchase them from a Toyota dealer as I have done this before and the outer seal from 3 different auto parts store cross referenced the number but would not fit.
Once you get it pressed back together it would be a good idea to buy a new inner seal and axle housing O-ring. They are cheap and if you have it apart already might as well put new ones in.
1. Install new inner seal and O-ring
2. Slide axle back in houseing
3. Tighten the 4 bolts through the houseing and backing plate
4. Connect the brake line into the wheel cylinder
5. Connect the emergency brake cable
6. Bleed the brakes
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