The intake manifolds removal on a 3.3L is a PITA, there are some bolts that hold the housing to the rear and almost blindly you will have to remove and put it back. No fun.
The Lexus is much simpler since the entire manifold is held with studs w/o the bolts to the rear (or atleast that is what I have seen on the 3.5L when I extended my arm behind the manifolds).
Oh yeah, replacing the plugs is when you really wonder how hard it is on a Highlander vs. Lexus. You pay a 10K more for ease of replacement on a Lexus from plugs, mounts, LCA etc.