The dealer told me that it would cost $1,000 to replace my spark plugs because you have to remove the plenum and throttle body. I watched a few YouTube videos and decided it was doable. The front three plugs were really easy. I removed the plenum and replaced the rear driver's side plug easily. My model was sold new in California and is equipped with CA emission equipment.
The passenger side plugs are not accessible because of a metal plate holding an EGR valve. So it looks like the stainless EGR tubes and metal plate (held by four bolts, one of which is inaccessible) that holds it in place would have to be disassembled and removed to get access to the last two sparkplugs. This was more than I was ready to take on, so I did not change two of the six plugs.
Am I missing something, or did Toyota really make it this hard to change the plugs?