Not hard to do except getting the wire off the back drivers side bank. Kinda tight back there, but you can do it without removing any brackets. Passenger side is easy. Unclip the wire harness from the intake tube and pull a hose or two off then take the tube off the throttle body and air box. Then you can unplug the coils and take out the 10mm head bolt holding them down. It only took me about 20 minutes to replace the plugs on my 2001 a few days ago. I just bought it a few weeks ago and it had 134k miles on the original plugs. They were very worn, but still ran better than new Bosch plugs. Pesonally I recommend using NGK plugs on this motor over Denso as they don't wear as fast. I worked in a Toyota dealer for many years and have seen a lot of plugs in these. I never figured out why, but the V6 came from the factory with NGK in one bank and Denso in the other bank. There was always much more wear on the Denso's