Toyota block drains are usually no problem even up in the rust belt, the aluminum blocks are sometimes a 2 piece valve with a smaller drain bolt in the part that is in the block, they loosen easily. Look at it, if its this type you have it made. If its a steel plug in an iron block I would probably leave it in peace.
They are under the exhaust manifolds and you get at them through the wheel wells, some long extensions and a swivel with get them.
You do not need to remove it just loosen it, it has a little drain tube under it, open it till it stops running, snug it up lightly then do the other side.
Use a bit of common sense, its it super tight and does not loosen with a reasonable amount (in other words don't start getting the 1/2" set out, use 3/8 drive) of force forget it and just do a radiator drain and fill. .