Just jack the front of the truck up and put the park break on since it’s in the front. Then spin the wheel and see if there is any resistance. If the wheel doesn’t spin freely then your brakes (or wheel bearings) are shot and you might need a need caliper and rotor (or bearings). You should be able to hear the rotor easily spinning and making soft contact with the caliper and break pads.
99 Tacoma 3.4L 4X4 TRD, All-Pro rear and custom front bumpers, HID lights, Sliders, reinforced/boxed frame, Full skids, Fiberglass front end, ICON ext. coilovers & rear shocks, Camburg UCAs + straps, TC Spindle & Coil gussets, All-Pro 3" leaf springs & ubolt flip, Energy 4.5" bumpstops, Brembo brakes with SS lines & proportioning valve, Magnaflow, Deck plate, In-cab snorkel, & Diff breather mod, Yellow Optima, Recaro, ScanGauge II, Viair, Sony, Hi-lift Xtreme, Recovery gear.