Not hard at all really, at least on the 3RZ where the oil pressure switch is handy and accessible. Not sure where it is on a V6. Hopefully in a nice place. My pressure switch was dripping so I checked pressure while I replaced it.
I used a harbor freight gauge also. Cheap enough and seems to work fine, with one exception. That is the adapter selection. I believe the Toyota needs a 1/8 BSPT?? thread on the sensor. The HF kit has a 1/8 NPT?? It is very close and can be gently used but it does not really fit correctly. Someone may correct me on terminology and sizes. I haven't thought about this in over 2 years. I did use it on mine with no troubles, just be warned it might not fit as expected. Maybe you can find a 1/8 NPT to 1/8 BSPT adapter. Again, I may have the terms and sizes wrong.
Then just follow the procedure in the manual for temps and RPMs. Good peace of mind. Mine was spot on. Only took a few minutes once the bits were assembled.