These were the part numbers for my `96
28226-22050 KIT, REPAIR
28226-74070 KIT, REPAIR
You may have to go ahead and take the starter out. One of the contacts, I don`t remember which, can be two different ones.
If at all possible, your best bet is to remove them and take the old ones to the dealer. They could not narrow the choices down for me on their computer, because I guess it doesn't matter what year or engine size, etc. I took my old ones in and we just matched up new ones.
TTORA forum is the best Toyota off-road club around. We are nation wide with chapters in most states. Come in and discuss Tacoma, 4Runner, Highlander, & TRD models.