Back when I had my 4Runner (somewhat similar engine bay and placement) I had to use a handful of extensions and a u-joint to get the plug nearest the firewall out of the hole.

I recommend using a good anti-seize and the "vacuum line" trick to start the plugs back in the head. I have no idea what the torque spec is, but snug and a quarter turn worked fine on my 3.4 V6. Nothing sucks more than trying to heli-coil a stripped spark plug hole. Well, almost nothing anyhow.