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Standard Ratchet set and to make things easier a large C clamp to compress the cylinder back down. Only thing to watch is pay attention to the "shims" or noise reducers as to which direction they come off so you can put them back right. Easy easy repair. Did my wifes brakes on her escort today. Not much difference between the escort and the truck actually. Rotors aren't too expensive either.
Basically all you do is pull the tire, take the two bolts out holding the frame that holds the pads in place. Compress the brake calipers down with a Clamp and put everything back together. Took me all of about 20 minutes per side today. It took longer to go to the store and get the parts than to change them.
I guess the most specialized tool would be the C Clamp, not everone has one laying around. You can do it without but its more difficult. You can leave the frame in place and use a screwdriver to pry between the rotors and the OLD brake pads. The biggest risk is dinging up the rotors doing it this way. I don't recommend it.
I have a 97 4x4 and front brakes are easy. If replacing just the pads a standard ratchet set is used If rotors are being replaced then it can get displeasing if the rotors are stuck onto the hubs. If replacing rotors then spray PB blaster/wd40 inside the lug holes and allow to sit for an hour or so then work them free with a hard headed hammer they can be a real pain to get off. (just a heads up). When removing the caliper brackets you need a 18mm socket with a long ratchet/breaked bar. About the torx i don't have that i have a standard bolts for the caliper hold downs. Again remove the brake fluid cover and compress the pistons using one of the old brake pads and a C-clamp close slowly until compressed all the way. Good luck.
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