No Toyota SST needed.
First evacuate accumulator (IG key off, pump pedal 40 times). Then, Turn on IG key to ON (do not start engine) booster motor should run. If not move to jumping with 12Volt battery.
You'll see a way to jump pump from 12Volt battery. It will show you which wire lead gets positive and which negative in wire block on ABS unit (black unit on side of master). This passes current through ABS, through wires attached to bottom, into motor.
If it does not start motor from first point (wire block on ABS), than you'll jump directly onto wires at motor. Again FSM show which is + which -.
It is possible to jump at each point (ABS wire block, Wires at bottom of ABS unit and wires where they attach to motor) with care before any disassemble.
Look at wire end to see if wires and screws are corroded. By just peeling back boots at each end. If so commutator of motor is likely worn out.
Note: Motor can have a dead spot(s) on commutator. This gets tricky. As test by jump 12V to it, may start motor one time and then not another as brush land on dead spot or not. So you may get motor to start every time just by chance.
Note: FSM states brake control wire, nuts and screws are non replaceable. This wire is a resistance wire and very pricey.