I just did the timing belt, etc on my Tundra. Exact same engine.
Take the radiator out. It's not difficult and definitely easier than leaving it in and damaging it.
Might as well drain your block (one on each side) and get all the old coolant out while you're there, cause a lot is coming out when you remove the water pump.
The tool I have to hold the crank is like
this. It also works on the 1MZ-FE, 3MZ-FE, etc.
I use an older Craftsman steering wheel puller that looks like
this to get the crank pulley off.
You don't have to disconnect the power steering pump hoses, just tie it up out of the way. The hoses have enough slack. Same with the alternator and its wiring.
The air conditioning compressor doesn't have to come all the way off, but you do have remove the bolts that goes through it into the bracket that the fan, etc sits on.
It's not a difficult procedure, just keep track of where all the bolts/nuts go. There's a lot that comes off along with studs that pass through the water pump, and it can be like doing a puzzle if you don't keep notes or something. If you're not careful, it's possible to put the alternator on at the wrong time and it will be cockeyed. If it feels like you're doing something in the wrong order, trust your instincts.
If you're into replacing things "while you're in there", the serpentine belt tensioner has to come off....it was around $55 at my local NAPA.
The Aisin timing kits are good and complete as well as being OEM.
I'll send you an exploded diagram of everything in a message. I'm not sure if I can post it publicly.