I would not recommend replacing your stock front brakes with the same small ones that came on the 2001 to 2004 models, they are under powered for the vehicle and Toyota learned as much and put larger ones on the later model years.
I recently upgraded my 2002 with 2005 and up front brake...
I just put 285/75/16 ATs (32.8") on my 2002 Limited with no lift and they fit fine. I just had to remove the front mud flaps. My wheels have about about -17mm offset. The picture attached is before removing the mud flaps.
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