It sounds like a difficult job getting to the plug closest to firewall on drivers side for 01 Rodeo. Should a relative novice attempt it and what tools would work best? Also what is the proper plug and gapping. Thanks much for responses.

The correct Denso plug will be pre-gapped. An assortment of 3/8" drive extensions and a wobble joint will help with the plug change. Make sure you put anti-seize on the threads and di-electric grease on the plug boot.

If you have all three coils removed all you need is two 3" extentions that you feed into the hole. Super easy. My only problem was getting that rear plug boot off.

If you have all three coils removed all you need is two 3" extentions that you feed into the hole. Super easy. My only problem was getting that rear plug boot off.
I use two 3" extensions and then a universal joint adapter, then a 6" or 8" extension. Piece of cake.

Mmmm.... cake. :p

From what I've found with these engines (1998+) the most difficult part of a spark plug changeout is getting the spark plug boots out of the towers. They stick way down in there on the plug. Heat causes them to 'fuse' on pretty good. Best way I've found to deal with them is grab the top grommet by each side with two pairs of needle nose pliers. Twist and yank away! They will eventually pop right out. Once you get them out, put a dab of silicone grease on the end that snaps onto the sprark plug, next time they will pull right out.
G/luck
Joel