The v6 comes with copper plugs, you can try to use platinums but several people over in the Tacoma Forum have found that their gas mileage dropped quite a bit after installing them. Stick with the coppers and change them every 30K- that's what Toyota recommends and it's not worth the hassle of spending the extra $$ on platinums and then finding out that you engine doesn't like them. I just changed my plugs (29,000 miles) and they were pretty well worn.
The air intake is very easy to take off (at least on the Tacoma). I am sure if you have a good ratchet set w/ extension you could actually get away without taking the intake off.
This thread should help you:
Changed Spark Plugs @ 29,000 miles - running too hot?