Your starter is not bad. What's bad is the contacts/brushes in side the starter. Don't spend $300+ for parts and labor when you can spend $10 for the contacts/brush. It's really simple to take out.
Disconnect negative battery cable. Locate the starter. Take off 2-3 bolts and navigate the starter thru (there are some obstacle you'll have to bypass). Remove two screws on top of the starter to open the covers. You will see the starter plunger. You will also see the copper contacts. Remove and replace and put everything back together.
if you have no idea of what I just said, you are better off taking it to the shop and have them rebuild the starter. It's cheaper that buying a new starter trust me.
What is the easiest way to change a starter on a 1996 toyota tacoma 4x4 with a 3.4L engine?
if you have some automotive experience go to a Napa or advanced auto parts and order a starter and do it yourself... but the easiest way and fastest way would be to just take it to a shop but then you'll have to pay 80-120 bucks an hour for labor. If you need the Tacoma running ASAP better take it to a shop, but if it can sit for a week or two until you figure it out and get it done just do it yourself
