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You may still be able to save the calipers. Try soaking it in lots of penetrating oil for a few days, then drill into the bleeder with a left-handed drill bit. These will often bit into the bleeder and simply thread them out, where a standard right-hand drill bit will try to push the bleeder screw further into the threads. If that doesn't work, you can still try an extractor. Just be sure you pick a drill size that prepares the bleeder for the extractor you plan to use.
If you can get the bleeder out, you could replace the bleeders and rebuild the calipers with these parts:
47547-20010 - $2.95 - Bleeder screw (x2 = $5.90)
04479-12091 - $20.68 - Rebuild kit, front caliper (one kit rebuilds two calipers)
If you can't get it out, you'll have to replace the calipers:
47730-17080-84 - $96.76 - Brake caliper, RH, reman (+ $20.00 core charge)
47750-17080-84 - $96.76 - Brake caliper, LH, reman (+ $20.00 core charge)
Unfortunately, Toyota is pretty strict wth core charges, and a broken bleeder screw makes a caliper unacceptable to them.
Good luck!
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