Have the steel lines inspected. Generally they don't need replacing unless the truck has spent a lot of time in a salt environment. If your truck isn't rusty underneath, they are probably OK. But one thing you need to check is the brake fluid. If it's dark, it's overdue for a flush.

I think you have three rubber brake hoses, two going to the front calipers and one to the rear axle. Since you have a lot of miles on your 4-Runner, the connections might be a bit rusty. This is definitely a job I would give to your local shop. They have a lot more experience breaking free those lines without destroying the hard line.

Speaking of rubber parts, have your shop take a look at the coolant hoses. They probably have, but it's always good to ask.

Other than the serpentine belt, my 2008 Tacoma still has all of the original rubber hoses, lines, etc. I'm thinking about upgrading my wimpy single piston front calipers to 4-piston calipers found on 4x4 Tacomas, 4-Runners and Tundras. If I do that upgrade, I'll replace my brake lines too.