Ok here goes my first post, I hope this is helpfull
I have the same issues as described in this thread
I have just completed an overhaul of the brake system in my 81 series
I removed all four calipers and reconditioned them using OEM calliper kits
I had the rear brake rotors machined, they were well within spec and still measure over 1mm of minimum thickness (I think 18mm is new 16mm is minimum so mine are around 17mm) and front rotors were machined last time I did pads less than two years ago and rotors still look perfect.
I left the hand brake shoes as there was still plenty of material left on these.
I've used new Toyota pads front and rear and put everything back together.
The brake fluid has been flushed with new DOT4 (I do this every second year anyway as my truck doesn't do that many Kms).
After bleeding the system including the proportioning valve everything was finished and like a completely new system.
I'll add here that I haven't touched the master cylinder during this round of servicing as it was replaced three years ago and I'm happy it is still working fine. Also haven't replaced rubber brake lines.
Now the brake pedal was the problem
It is firm, very firm when the motor is not running however with pressure applied I start the motor and the pedal sinks as boost comes on (normal) then... I can continue depressing the pedal so it slowly sinks almost to the floor.
I re-bled and checked for leaks as well as checking rubber lines for bulging and everything was perfect.
At first I questioned whether my master cylinder was the fault.
The interesting part is that on first road test the brakes are great. Plenty of bite and could lock a wheel if I had to (pre ABS model)
I was stumped as to why I could get so much travel from the pedal at idle, where was the fluid going? Absolutely certain there was NO AIR left in the system.
When I got home I found an interesting write up regarding brake boosters and specifically diesel powered heavier vehicles.
http://www.nbsbrakesupplies.com.au/technical-information/creeping-brake-pedals.html
I am more than happy with the braking performance of my truck on the road, and I would never find that I'm applying such heavy pressure under normal driving, I'm still yet to tow the boat anywhere so will find out how it really stops soon.
I also bought a new handbrake cable from Toyota which I still have to fit so hopefully that sorts the lack of handbrake when parking.
Sorry if this post is too long but I hope it helps anyone who is scratching their heads like I was but like I said I'm happy with how it is now