$200 to replace the contacts is very high. It is usually just the battery side contact that goes bad. I did mine on my 3.4 4Runner last year and the price at the dealer for the battery side contact kit (28226-54340) was $6.32 (my motor side contact had no wear). It took me about 45 minutes to remove the starter and replace the contact. I saved some time by just changing the contact with the starter laying on the frame rail, as there is not room to actually remove the starter without removing some other stuff. This may not be the case on your T100 but is on the 3rd gen 4Runners.