One problem related to brake disc has been reported for the 1996 Toyota Tacoma. The most recently reported issues are listed below.
The inner tie-rod end on the passenger side was very loose. This allowed the wheel to move freely about 1. 5 inches at the perimeter in each direction. The part was replaced in August (I think) and yesterday I noticed the problem again, not as bad, only 0. 5 inches of travel. The front disk brakes caused a severe shudder that hampered my control over the vehicle at a moderate deceleration. The rotors have been replaced twice, and now it only vibrates mildly, although I am sure that the problem will return if its already vibrating. While walking around the dealership I noticed a box full of Tacoma rotors, a problem maybe?.