If the clutch is old, you may consider replacing it. If you have cheaper possibilities from others, consider doing those first. I don't know that the clutch is your problem. Note that I am not talking about the pressure plate. It might also be a good idea to buy the clutch from Toyota, even if you have an independent mechanic install it.
Here is a picture of a clutch plate. Note the 6 coil springs in the center.
http://www.bfranker.badz28.com/fbody/c2657.JPG
From the pistons to the tires, these springs are the only "give" in the drivetrain when the clutch is engaged and the transmission is in gear. In a car with an automatic transmission, the torque converter provides the "give".