No, it will not do any harm, Tte use of Platinum or Iridium "tip, and electrodes" plugs will wear better than regular plugs due to the better suited material.
Infact the 5S-FE and 1MZ-FE both use a 'waste spark' ignition system, that fires 2 plugs at a time. (on the cylinder 360degrees out of phase or cycle)
This way the system can be made simpler, where one coil serves 2 cylinders. One draw back that I think I saw (couldn't recall) causes electrode erosion in regular plug materials, so Bosch "Double Platinum" plugs with a Platinum tip, and regular electrodes do not last as long. Do a SEARCH