If you are lucky and have rotors and pads and not drums and shoes then:
1. jack up the rear of the vehicle
2. place jacks under vehicle frame or lift point
3. remove tires
4. if you are unlucky there will be a nut at center of rotor holding the bearing preload. otherwise rotors will come off.
5. if there is a cap and nut at center there will be a cotter pin of some kind to lock nut onto hub.
6. take out securing device
7. unbolt nut.
8. pull on rotor, bearing will fall off.
9. catch bearings and repack them with new grease before install.
10. you're rotors are removed.
start by taking the tires off
Remove rear calipers and pull. That simple.
It could have either.
Lift and support rear of vehicle. Remove rear tires and brake drums or rotors. Remove back cover on differential. Rotate ring gear and locate locking bolt that keeps spider gear pin in place and remove it. Remove spider gear pin. Push in on the axle to remove "C" clip. Remove axle, Remove seal. Reverse order for installation. Replenish rear diff with proper gear lube.
I worked on a 2003 today and it had both. It had rotors up front and drums in the rear.
Remove the cotter pin/nut in center & they pull straight off.
there are factory rivets which have to be drilled out
Drums not rotors on a 2002 Dak, probably the same on the 2003
Remove the rear wheels, then the calipers and simply pull the rotors off. If the parking brakd is on the caliper you need a special tool ot retract the caliper.
Should be found at the lower rear passenger side of radiator.
Rotors on the front drums on the rear.
To replace the rear rotors on a 2003 Toyota Sequoia, first, safely lift the vehicle and remove the rear wheels. Next, detach the brake caliper by unbolting it and sliding it off the rotor, then remove the caliper bracket if necessary. Take off the old rotor by removing any retaining screws or clips, then install the new rotor and reassemble the caliper and wheels. Finally, bleed the brake system if required and ensure everything is securely fastened before lowering the vehicle.