If the brakes overheated, your fluid also overheated - it will work but not 100% like it should. Purging brake lines is very easy on any car, use the pedal to pump it and connect a bleed kit (small bottle + pipe) a bit higher than the bleeder to remove all air and fluid. For ABS pump bleeding - toyota has the sequence in their intellitester.
In most cases the pump bleeds itself under pedal pressure. The only time you need to bleed the pump is when the pump gets some sludge in it from worn out brake pipes or rust particles floating in the system.
Brake fluid should be changed every year - its a safety critical item. Its not that expensive either. For weeding out fakes - call a distributor and ask for a retail location.