9th gen Xli/Gli/Se/2D lack a bit on brakes...
had kept a few Se saloons (auto,stock, no cng)and front left wheel lock up was almost unavoidable..
that era there was CNG boom and everyone had big heavy CNG cylinder at back making the COG shift towards back which made the situation even worse..
then they introduced rear wheel disk brakes in Gli n above, didnt help either..
stop signals always scared me in summers, suddenly signal get red, u apply brake and listen the front left wheel locked and start singing or screaming watever u say...
ABS ( in altis only ) solved it 99% Alhamdolillah, and some units came with silver brake calipers from factory which are identical to camry/premio/prius improving brakes even better
E140, due to wide body and shape generally have got better braking even in Xli, and ABS is standard from GLi n above, so i guess brakes shud be the turning point