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2000 Tundra brakes

I have a 2000 tundra 4wd truck which is experiencing front brake vibration from warped rotors. The rotors warp readily due to the front brakes being undersized. I have also heard that the rear brakes do not adjust properly and therefore do not take their share of the braking load. This results in more load to the undersized front brakes which hastens their demise. Toyota has a fix which entails replacing most of the brake system…the dealer wants $3000+ for the job. I am looking for advice on how to fix this problem for less money. It seems that a complete fix will need to address front calipers, rotors, and rear brakes as well.

Thanks for any advice you can give.