Hi everyone,
Haven't posted here before, but I've been lurking around reading some how-to's (which is actually how I found the website). I've got a 96 Avalon with 194k+ miles on it, and just changed out the original spark plugs this afternoon.
I can't remember where I saw the post, but whoever recommended the 5" wobble extension piece, a big

to you. Was able to change out all 6 plugs in 45 minutes flat, no problem whatsoever. Best $10 I've ever spent. And here I've been putting this off for years because I thought the intake had to come off.
Also, as a tip, if anyone needs to replace Bank 1 Sensor 1 oxygen sensor (the one facing the firewall); you can get it out from the engine bay. Harbor Freight has an offset oxygen sensor socket for $3.99. Just put it on, then attach a breaker bar to it, and done. Didn't have a problem getting it out from the top, though my forearms are a bit scratched.