2010 Toyota 4runner Want Replace Pads Rotors That 55 000 Original Miles Parts

I want to replace the pads and rotors of my 4runner that has 55,000 original miles. Toyota parts will cost me around $500. I found ACDelco Advantage OEM grade parts for about $250. I dont want to put cheap parts on my car. I would like to get another 50k from the brakes. Are the ACDelco parts comparable or should I go with the Toyota parts. Thanks, Joe