Seemingly most "total brake failures" identified here can be traced back to the electric motor that drives the pump that in turn charges the brake assist accumulator. That electric motor, like all dc motors, will eventually require replacement brushes and commutator re surfacing (or actual replacement if it's too worn and unserviceable) and new bearings at some point based primarily on its duty cycle and operating environment. Now regarding preventative maintence for the motor - not much is on offer directly from Toyota apart from resistance checks and accumulator charge time as per the FSM and most importantly heeding the inbuilt visual/audio warnings for low pressure, excessive current/duration etc. General non invasive testing of small motors like these might include thermal/audio/vibration signatures (compared to a new unit for baseline), insulation testing and current readings but in many applications a small motor like this would just be changed out if it were assessed as a critical item as per your or your industry risk appetite. It sounds like any failure of the brake boost system, regardless of the inbuilt warnings and hopefully residual pressure in the accumulator for emergency stopping, is not acceptable to you so you could have your mechanic:
Fit 47960-60010, the dc motor + hydraulic pump, available for ~$1000 plus installation
Fit 47950-60010, hydraulic accumulator, available for ~$275 plus installation
Fit 47070-60010, dc motor + hydraulic pump + accumulator, available for $1200 plus installation.
*last time a checked p/n and online prices
Send your dc motor to a rebuilder, maybe $150- $250 and 2 weeks down time?
You might want the master cylinder rebuild done too and that kit is ~ $50 or so. But you may well find many mechanics reluctant to open up the MC just from a perceived liability stand point.