Yep, this is similar to the plug replacement in our old Sienna van. I've found the plugs release easier, when removing them, if I have the vehicle warm, but not hot, before starting the job.
I, also, don't squeeze the clip on the coil when removing, they are known to break when they are older, especially the ones in the back where it's hotter. Instead, I use a pick and lift up the tab from the lower-part then pull them off....haven't had one break yet. (My friend did this job in his old Sienna and broke 3 out of the 6....and you have to replace them, which makes an easy job an all-day job....so have some spares handy, thankfully I gave him some spares.)