Conventional Parking Brake problems of the 1998 Toyota 4Runner

Brakes become soft and parking brake has increased number of clicks to tighten-this has occurred at approx 11,000 and again at approx 18,000 miles; took to dealer at approx 11,800 initially with this complaint and they only inspected brakes (no adjustment)and said brakes look almost brand new. I had to return to dealer and have shop foreman drive the truck who then told mechanic to adjust brakes. Once again I am noticing brakes are soft and parking brake takes more clicks to tighten (approx 18,000). I contacted another dealer who told me that this is expected with Toyota 4 runners because they do not have self adjusting brakes. He said that I need to have the brakes checked and adjusted if necessary every 5000 miles (at an extra charge of 30. 00 dollars). I explained that they go out of adjustment very quickly and not at exactly every 5000 miles, therefore the dealer would not adjust them until I have a problem again which means I am spending time and money (besides the expected 5000 mile oil change/rotate tires) with a problem I feel may not be normal for a $32,000 dollar truck and should be covered under warantee or at least described as a common necessity to customers before purchase( nowhere in the owners manual does it state that brakes will need adjustment frequently due to not self adjusting).