jtu there's probably no need to remove the IAC, and definitely no need to remove the throttle body, just for a cleaning.
The only reason to remove the IAC is if it is being replaced with a new one, or the cleaning doesn't improve performance. If this were the case, chances are the problem is elsewhere in the system, and not the IAC anyway. If you do decide to remove the iac, do it carefully in case the gasket is still in one piece and usable. Some camrys have a neoprene gasket that uses no sealer, and i have reused these before and they worked. If the old gasket is torn or broken, or the IAC leaks or wont idle after you put it back together - then yeah you do need a new gasket.
During the cleaning you can generally just spray enough in the IAC hole to dissolve most of the crud, enough to make it work right again, and without disassembly. Use the whole can, use a rag to catch the excess that blows out. You can quit if you start seeing the excess cleaner blowing out of the IAC still clean, or you run out of cleaner. If that doesnt fix it, it's maybe time for new parts or another diagnosis.
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