The knock sensors are an easy fix. They just take time to repalce. I think you need a 24 or 27mm wrench to unscrew it. I can not remember off the top of my head.
You will need to remove the upper intake plenum, fuel rail, injectors, etc.
You will also need to remove a coolant bypass hose to access the knock sensors.
You can grab the knock sensors out of a Camry/Avalon/Solara/Lexus ES300 1MZFE engine from a self serve auto wrecker for a few dollars.
The issue with my knock sensor was that the connector tip had broken off giving intermitant signals.
While you are in there I reccomend you replace the coolant bypass hose with a brand new Toyota OEM one. It will be a nice perfect fit and you have that piece of mind!