There are a few posts on this, I just wanted to add my experience. First and foremost, Do Not Wait on this code. I did out of lack of research and paid dearly. It screws with your timing. It fouled my plugs and blew up 2 ignition coil packs!
The change out is pretty straight forward. The openings are tranny side of the engine and up top close to the head covers so you dont necessarily have to drop the oil but there is a filter for each O.C.V on each bank just below the O.C.V's behind a big bolt. At the minimum you should clean these out. They are pretty cheap so I just replaced mine since I was in there anyways. You will lose some oil out of these holes. I do an oil change any time I open up my engine just in case. You can't be too careful with these engines (Search Avalon Sludge for some horror stories)
The plastic connectors are super fragile so be careful and these engines are very touchy about non OEM so only use the real Denso / Toyota parts. I will plug my new friend:
Gary Smith
Parts Manager
Toyota of Newnan
2 Herring Road
Newnan, GA 30265
(678)854-9601
www.toyotaofnewnan.com
He has been a Great help and gives Toyota Nation members a discount! Great Customer Service and Super helpful. Got my parts quick and cheap, can't beat it.