Soft brake pedal and brake-feelmoderate
As across the generation, some owners report the brake pedal going soft or sinking, and mechanics separately note the 4Runner's brakes feel soft and nose-dive by design. Real master-cylinder and ABS-actuator failures do occur at low frequency, and the front calipers and slide pins seize in salty climates while the smaller rear pads wear fast. Most of this is maintenance and characteristic; a pedal that sinks while stopped is the exception worth chasing. Brake-test from 30 mph and watch for a pull.
Sources: NHTSA complaint database, 2018 4Runner · Independent mechanic/owner channel transcripts (5th-gen 4Runner, incl. Car Care Nut)
routine
Caliper service / pads (maintenance)