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This video goes over how to adjust your parking brakes both in the rear rotors and also in the center console cable adjustment.
I recently changed out all the brake components (rotors, calipers, pads and hoses) on our 2007 4Runner, but didn't feel like going in and replacing the parking brake shoes or hardware at the time. They looked good so thought I'd just leave them in but make the adjustments on the brakessdw to snug them up a bit.
As you'll see at the bottom of the rotor there's an opening and you'll find a small gear that you'll turn up and away from you to tighten and down to loosen. If you think you have slack in your cable then in the center console you'll find the parking cable carriage assembly that you can tighten up a bit.
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