I did mine a few months ago...it is easy(at least on my 2wd):
1. Remove skid plate
2. Drain radiator from its petcock into clean container for reuse after
3. Working from underneath the engine and on your back, use pliers to open and move back the hose clamps attaching the in and out hoses to the oil cooler. You will lose some more coolant and engine oil here.
4. Once hoses are removed from oil cooler(may need pliers to gently grab hose and twist it to break it free from metal oil cooler pipe), use a socket 22or 24mm? or Crescent wrench to remove the large bolt holding the cooler to the engine block.
5. Once cooler is removed, remove old o-ring and bolt sealing washer with new parts.
6. Use o-ring lube on o-ring and sealing washer and set o-ring into its slot on the cooler
7 Carefully place the cooler on its housing, being careful not to dislodge the o-ring. Also make sure the two tabs on the cooler align over the slot on the engine block before tightening the bolt.
8. Carefully finger tighten the bolt so making sure the o-ring is still in its slot...then tighten the bolt down.
9. Continue with the reverse sequence of removal of the other parts.
Note: only use Toyota o-ring and sealing washer.