I've done several Lexus LX470 starter replacements. They use the same engine so the following tips can be applied:
Like Victor said,most of the parts can be removed as a single unit. The throttle body,fuel injectors/rails,and upper plenum stay together. All you need to unbolt are the lower manifold nuts (ones that go into the head).
When removing the intake manifold nuts,shove some kind of sticky stuff in the socket (I use butyl rubber sealer). You do not want to drop those nuts when reinstalling them.
Be prepared to spill coolant,there are coolant lines going into the throttle body that have to be disconnected. Clamping the hoses with needlenose visegrips help reduce the mess.
Open the gas cap to relieve some fuel pressure. Have rags handy when loosening up the fuel connections at the rails. Smoking during this stage of the job is a bad idea
Ratcheting box-end wrenches make removal of the actual starter bolts easier. 14mm size.
You will probably have to sit/lie in the engine bay to get most of this work done. Have something comfy to sit on,you'll be there for a while.