I just did the plugs on my Camry, they are straight up/down and about six inches into the head. I took a piece of painters tape and put onto the socket so I could lift the plug out. A 1 or 2 inch long piece, insert half into the socket, half out. Just enough to make some drag on the plug, that way you can lift the plug out.
Don't use too much tape. Otherwise it may overcome the holding force of the extension. Painters tape won't last long, due to grease on the metal surfaces; but I didn't have the "proper" socket with a rubber boot on the inside, and this worked well enough for the 12 plugs I needed to do.
Don't use too much tape. Otherwise it may overcome the holding force of the extension. Painters tape won't last long, due to grease on the metal surfaces; but I didn't have the "proper" socket with a rubber boot on the inside, and this worked well enough for the 12 plugs I needed to do.