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There is no spring holding the rotor in place, it's most likely just rusted on. You can easily remove the rotor by way of a rotor puller. A rotor puller is just a series of clamps on chains that anchors to the hub with a bolt, and by tightening the chains, you will be able to remove the rotor. This is standard on any make or model vehicle, however some vehicle makes are known to have screws in place to anchor the rotor to the hub, such as Hondas. Check with your Toyota dealer or just do a visual inspection to ensure there is no such device in place before using a rotor puller.

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