Joe,
First, remember to use the plugs that Toyota recommends for the 3rd gen 4runner! Don't use anything else...does not help and may make your CHECK ENGINE light come on. Get 'em at Toyota dealership, NAPA, etc. Or, on internet, get from
www.sparkplugs.com.
NGK's on the passenger side and Denso's on the driver's side.
For driver's side, just pop the plug covers and remove the old plugs. You may want to unbolt the top of the manifold support bracket and loosen the bottom. This allows you to rotate it back for the middle one and forward for the back one. You may also take off the hose bracket just over the middle plug.
For passenger's side, it is a bit harder. Remove the air intake ducting first. You may want to disconnect the intake conduit at both ends and rolled it back to do the front two and then rolled it forward to do the back one.
The new plugs need 18ft lbs of torque on them.
This whole thing should take you about 1 hour.
Good Luck.