I did mine with seal kits from Dave not to long ago.
There is no circlip for the seals, just a metal ring that holds them in.
The ring has a split In it, so it's not a complete circle.
I just used a small screw driver to pop and twist it out, and the same for putting back in, just being careful not damage the seal itself.
The big issue with the rear calipers is that thread that the piston screws on to.
There's a circlip in there that requires you to compress the spring to get it back in. And because that thread is an odd pitch you can try and try like I did but you need a special tool from Toyota to put it back in.
I got the shits and took them around to heaps of brakes places and they all said they had no idea how they'd put them back together, so I ordered the tool from Toyota, lucky enough they had one in stock, still took a month to get to me.
This probably isn't all that clear, sorry. Get a hold of the workshop manual and it makes it much clearer.