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FIRST OF ALL YOU HAVE CHANGE SPARK PLUGS WHEN ENGINE IS COOL.IF YOU CHANGE THEM WHILE ENGINE IS HOT YOU COULD DAMAGE THE ALUMINUM HEADS OR CAUSE DISTORTION.TO CHANGE SPARK PLUGS YOU NEED A SPARK PLUG SOCKET.A TORQUE WRENCH.ITS NOT MANDATORY.BUT IT WILL KEEP YOU FROM OVER TIGHTEN SPARK PLUGS.YOU NEED A 3/8 RATCHET AND EXTENSION.YOU ALSO NEED A SPARK PLUG GAP GAUGE.AND SPARK PLUG BOOT PULLER.YOU ALSO NEED SOME ANTI SEIZE COMPOUND.TO PREVENT DAMAGE THREADS WHEN INSTALLING THE SPARK PLUGS.
First get a Autorepair manual from either Chiltons or Haynes for your toyota and look up tuneups -replacing spark plugs, this should detail everything required ,even to the firing order for the spark plugs. make sure you follow the book to the letter Or you'll be sorry.
All of them are easy except the last in the back as you are probably aware. No 'special' tools needed. I managed it with a a u-joint and 10" and a 6" extensions; the 10" seems about just right, the other not so critical.
From the passenger's side, lay over the wheel well and drop your plug socket with the 10" extension into the spark plug hole. That may take a couple minutes a fiddling to find it. Once in, slip on the u-joint. It will be right up against the firewall. Then put the other extension on. Voila!
Installing is the same. Put the plug in with the 10" extension, start by hand, then put the u-joint on & finish.
Get a spark plug socket with the hex head on the top. Put it on the plug and use a wrench to turn it. You should purchase a deep 5/8" spark plug socket. Those are a pain you know where! Try not to let the plug wires sit on the exhaust manifold either or your will be replacing them again soon.
Good luck .....Scott