Yep, it is on there...and in my case for good (well, sort of). I did a tranny and diff drain and fill awhile back and had to finally destroy the bolt to get it off. I used craftsman's BOLT-OUT kit to do it. My car was out of commission for a few days while the part came in.
Since you have already rounded it I would:
1. Leave it in place for now
2. Order one from that Yota dealership ($6

). Get it 1st thing.
3. Get the BOLT-OUT kit or something similar with that size in it.
4. Then commence with the removal.
That should take care of you and save you a lot of money. I never view buying tools as an expense because you will ALWAYS use it later down the road.
BULL
Edit: I just pulled my receipt and the part numbers for my
00 Camry LE, 4cy were:
90341-18038 for the plug
90430-18008 for the gasket
I'd try an online toyota parts dealer. Probably could save some money there....although with shipping I dunno. I use
www.1sttoyotaparts.com