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You can channge them one at a time,if you only have the stock jack, but a good floor jack and jack stands are recomended. Make sure the vehicle is on a flat level suface, chock at least one front wheel, loosen all of the lugs on both rear wheels. Jack up the rear axel so that both wheels are off the gournd, release the parking break, remove both rear wheels, the drums are free floating and can be removed by knocking them back and forthe with a deadblow hammer. then pull them off the same way the wheels were removed. If they stick there are two threaded holes on each drum to thread bolts in this will break them loose.

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Q: How do you change rear drum breaks on 2002 tacoma?
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