Guys I'm a Toyota mechanic and I DREAD doing tune ups on the 3.0's because of that friggin plug.  What I've found works best is a 36" extension and a wobbly spark plug socket.  It seems that every one of these that I work on the previous tech screwed up the threads on that plug and that makes it a royal pain in the ass to put the new plug in.  I usually end up running spark plug thread chaser thru there first and then put a little antisieze on the plug to get it to go back in smoothly.  The trick is to stick your arm way down in there and start the socket by hand- then stick the extension on it and thread it in from up top where its easy. I've tried removing the EGR stuff, and that usually just causes me more problems....

If you pull the upper intake plenum and lay it on the passenger side fender, they're WAY easier to change... 

No matter what, they suck to work on.

Ryan