since you're talking about a v6, i can tell you how i did my 2002 camry v6 since they're similar.
some people just go ahead and remove the plenum (bundle of snakes) but unless you have a gasket leak, or need to change the valve cover gasket, i leave it alone. it is a very tight fit back there but can be done. use 1/4" and 3/8" sockets for these and have a lot of different swivels and extensions on hand because you might need them all!
Also be sure to tape the sockets and extensions together with masking tape.