Go to Toyota TIS (techinfo.toyota.com) and pay the $15 for the 2 day subscription. You then get access to all the Repair Manuals, TSBs, EWD, etc. for any Toyota or Lexus vehicle.
As far as the rear spark plugs go, there are ways to change them without removing the intake manifold/plenum. It's very involved and you need all sorts of ratchets, extensions and universal joints... and you need to be a contortionist. Just sounds complicated, doesn't it?
I just did these on my dad's 99 Sienna with the 1MZ-FE engine, and I don't see how it can possibly be done without removing the manifold... at least comfortably! I found it far easier to change the plugs properly (using torque wrench to install) by removing the intake manifold.