Some is available in the service specification section of your owner's manual - 1 mm for pads and shoes.
If you don't have it here's a link to the PDF of that chapter: https://www.toyota.com/t3Portal/document/om/OM12671U/pdf/8-1.pdf (see p 195 / p3 of the PDF).
What it doesn't appear to have is wear limit on rotors and drums. I'd have to look at my factory service manual when I'm back home but chances are others will beat me to it and post here before I get that far
If you don't have it here's a link to the PDF of that chapter: https://www.toyota.com/t3Portal/document/om/OM12671U/pdf/8-1.pdf (see p 195 / p3 of the PDF).
What it doesn't appear to have is wear limit on rotors and drums. I'd have to look at my factory service manual when I'm back home but chances are others will beat me to it and post here before I get that far
