FYI, don't replace the starter, just put new contacts in it. That's all you need. The starters you get from the parts store are junk. The Toyota starter will last you a lifetime if you just keep replacing contacts. (unless you fry it from hooking your battery up wrong or something)

My write up here on 4x4wire, but for a 3.0

http://www.4x4wire.com/toyota/maintenance/starter/


Yotatech write up for a 3.4

http://www.yotatech.com/showthread.php?t=76347


I've had people email me and tell me they were able to replace the contacts in the starter while it was still in the truck. Just unbolt it, and get it into a position to where you can work on it. This will keep you from having to wrestle with it trying to get it out.