Ready to give up on my Taco

First time poster, long time lurker. I have a 2012 TRD Sport and I've loved it since new.
However, since 2016, I have been going around in circles with Toyota dealerships and various local mechanics on what's wrong with my truck.
First problem:at 47,000 miles it developed "the lurch" and it wasn't until recently, (currently at 78,000 miles) after an unintentional tip off by a service guy at the dealership, that I learned it is a known driveshaft problem. According to the TSB, it looks like it should have been covered until 60,000 miles. I called the service guy at the dealership and he tells me he's never known Toyota to fix this problem under warranty... It's documented that I was in the dealership complaining of a lurch at 47,000 miles.
Other problem: the truck DEVOURS rotors. And other than machine them to hell, they can't seem to find the problem. They've all been replaced (some a couple times) and it still wobbles when braking. They've resorted to telling me it's my tires but I don't want to commit to replacing the tires just to find that the brakes still pulse...
Anyone very familiar with these problems and can provide a little hope? I'm ready to throw in the towel and I don't really want to...

 

I have heard of the driveshaft issue. I would call a different dealership near by and see if you get a consistent answer. You know how stealerships can be. And as far as the brakes go, are you sure you’re not just stomping too hard?

Just kidding, what rotors are you running?

 

A dealership 45 mins south of me was much more friendly about the whole thing (apparently I haven't exhausted them yet...) and I may bring it to them.
As far as stomping too hard, I've tried all different amounts of pressure on the pedal, it nearly hops off the interstate itself when you exit, even with the lightest pressure! The dealership has asked me all kinds of dumb questions like, "have you been towing?" (please don't rub it in that I have no life outside work) and given advice like "when you hit a puddle and they are hot, they can warp immediately" and "your tires are likely the problem." It's amazing what they will tell women.
Not too savvy on the specific rotors. I know they are the *updated* rear ones after a known issue that the dealership replaced under partial warranty. I still paid for labor and some random grease but not the rotors themselves. They don't put very specific information on the paperwork. They replaced those in the spring and I didn't even get 3 months out of them. Suppose I should be paying closer attention...

 

I have a newer taco I’ll ask my sister about her’s she has a 2nd gen about the lurch issue i know she had to bring hers to the dealer for something as to the rotors first does your truck eat brake pads to? I heard of someone (I believe with a Ford Explorer) that they had major issues with warping rotors and they switched to cryogenically frozen rotors and it solved their problem maybe look into them? I think they’re alittle more expensive

 

The rear has drums, not rotors.

If the other dealership you mention is not helpful on the driveshaft issue, go to Corporate. Since you are on record with an unresolved complaint within the warranty period, they can authorize the work if they wish, marking it as 'goodwill'.

As far as brakes, search for a Stoptech package recommended by @crashnburn80 to get a decent upgraded setup. If brake work isn't your thing, find a good independent shop to work with. IMHO you haven't found that place yet, based on your comments.