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What is the model of your Toyota - camry, corolla, sequoia, tundra, etc
Ok, on the face of the rotor is either an exposed hole or a grommet in the hole you will remove. Spin the rotor so the hole is at the 6 oclock position and then use a screwdriver to deadjust the parking brake shoes until rotor slides off. See attached diagram
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Yes, both rear wheels need to be off the ground and parking brake fully released.