Click the “Mechnics Files” button at the top and find a shop near you. Also, you can ask everyone you know for a good shop. Some chain stores do a good job, but they generally use inexperienced mechanics to keep rates down. Don’t go to one unless several people you know recommend it.
2 mm is considered the minimum safe pad thickness, so you are close to needling new pads. The Toyota dealer is not out of line suggesting replacement. But they will charge more than anyone else for this work. If they gave you an estimate, was it in writing? If so, post the detais of the work they propose. If not, get it in writing so that you can compare their quote to any others you get. Always get the details in writing. It can be on a a note pad, but get it all the same.
I expect that the dealer would change pads and resurface the rotors. They might also include a fluid change. If you have more than 30,000 miles on the car, it is a good idea to get the fluid changed.