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I think you'll find that the solenoid is part of the stater assembly itself. If the V6 is anything like the 4 it isn't especially fun to remove the assembly. http://www.ncttora.com/fsm/1993/starting.html
1st to do, disconnect the battery and remove, also remove battery support , the starter is located between engine and transm. behind battery, now disconnect 2 wires from starter , loose 2 bolts 14mm wrench and starter will fall in your hand , note this procedure is for 4 cyl model , 6 cyl engine same
I've found the bolt that the alternator pivots on to be not much fun. A small palm type ratchet has been helpful. Here's an online manual's alternator section: http://myweb.dal.ca/is353832/93fsm/charging/3generato.pdf
Remove negative battery terminal... Remove the small lead from the starter solenoid, and the large lead from the starter. remove the (usually 2) bolts holding the starter on. lower starter out the bottom. (now.. since toyota starters don't go bad)... remove the 3 screws from the end of the solenoid housing... and go to a starter rebuild shop. Buy 2 new copper contacts for the solenoid, and replace them... presto new starter for less then $20 bucks.
The Knock sensor on a 22re is located under the intake manifold on the engine block. to the upper left of the oil filter. With is the passenger side of the engine. I believe it is yellow in color. Not do be confused with the oil pressure sensor which is close by. The knock sensor has a larger electrical connector. Good luck it can be hard to get to.