I go back and forth on it. As far as all the tools, you might be right, though I've watched several videos of people taking off the valve covers, and some of those bolts look pretty difficult if not impossible to get to without extenders, and my basic socket set has one. I think honestly what I am more nervous about is the multitude of things, including the upper and lower plenum, wiring harness, etc etc that have to be taken off to reach both gasket covers.

Again, I just don't know if it is all worth it (either paying someone or me changing them) for the tiny amount of oil it's leaking.

One opinion (from another 4Runner owner) is that it is worth all of it, even though it is a small amount of oil, because of where the cam plugs are/where the oil is leaking, they need to be changed and resealed, because at highway speeds the camshaft is not properly lubricated.