Clutch Issue on my 2009 2.7 4WD Left me stranded, now working.

Hey all, wondering if any of you have had a similar experience and I am asking for guidance about how to go about this.
Was driving my 2009 Tacoma (2.7 4WD Manual trans, 150k miles), around town for around 2 hours, when all of a sudden my clutch doesn't do anything. If I recall correctly it felt like it wasn't engaging at all and would stick to the floor for a second before coming up. Wouldn't go into gear at all, would just grind as if the clutch wasn't being pressed in. I recall hearing a chirp I had not previously noticed when the engine was running while this issue was happening.

Had it towed to a shop and in the morning the mechanic was able to test drive it and he said it drove fine. He couldn't figure anything out. But said the slave cylinder wasn't visibly leaking and the master cylinder was full. I took the truck back knowing the issue would happen again. Clutch now engages way earlier, pretty much as soon as the pedal is released, I can also tell when I depress the pedal the clutch isn't being fully released as it doesn't go into gear as smoothly as it usually does.

I go home and inspect the slave cylinder travel and it looks normal. bleed the fluid quickly from it to see if it makes any difference. I don't feel any. Could this pertain to the throw out bearing chirp issues? What I'm thinking was that after a couple hours of driving in town the throw out bearing must have gotten hot and eventually caught on the input shaft or something.

I should also note that the clutch was replaced under warranty at 25k because it was hard to press in or something, and I have noticed over the last couple months that the clutch has felt warped when I have released it, shaking the truck somewhat badly.

What do you guys think? I need to get it into another shop and am thinking I should just have the clutch and throw out bearing replaced.

Thanks so much, I gotta get back out onto the road as I deliver pizzas for a living.