For anyone who needs this done, and is just going to take it to a shop, book time is over 4 hours due to the intake manifold having to come off. Grab your mechanic buddy, and throw him $100. It will be a win win.
So, I have a 2014 GX460, basically the exact same engine. I'm hesitant to remove that foam. Do you know if it hurts anything to remove the foam? What purpose does that foam serve? Just for heat shielding? I see you have an open plug that looks dirty above the PCV. What is that?