there is a write up for the Gen 4 I think and it is easy, but make sure you use something soft to hold the Butterfly open (and something that will not FALL INTO the Intake - see above

).
I did it as follows on my 2005 camry.
1) remove air filter.
2) Loosen the clamp and remove the top of the air box from the main intake tube.
3) unplug the 2 vacuum lines from the VSV.
4) pinch the clamp that clamps the other end of the intake tube to the top of the throttle body - this on is a bit tricky. Remove the intake tube. to make reinstall of the tube easy I took the clamp off and "locked" it open. It has a built in lock but it took both my hands to lock it.
5) You can remove the vac line at the TBI (the other end of one of the lines you disconnected in step 3) or just work around it.
you now have access to the TBI. Use a quality TBI cleaner (make sure it is marked as such - I found CRC TBI cleaner at WalMart that is the same brand my dealer uses) and spray it well. I also used a clean rag to wipe the surfaces clean and you will need to open the butterfly to get all the nooks and crannies. There is (at least on the gen 5.5 I4) a grate integrated into the TBI gasket that blocks the upper part of the passage behind the butterfly - don't damage it.
Once it is cleaned well just reinstall it all, making sure not to over tighten the upper clamp or the air box bolts. For the lower tube clamp I slipped it on with the clamp locked open, checked the fit, adjusted the clamp position and then released the clamp lock with it in the right place. Worked like a charm.
Precautions / catastrophic failures include
1) Dropping something down the intake.
2) vacuum leaks
3) you are working over the battery a bit so make sure not to short it.
4) Using a cleaner not for TBIs.
Other than that it is pretty simple. If you get the online manual (yes, you CAN still find it), the picture of the TBI and the first part of the R&R for the TBI is all you need. Their write up is perfect.