Toyota Prado 2.7l spark plug replacement?

How to replace spark plug on 2007 Prado 2,7L?
a. As I have looked under the hood think I have to remove the intake manifold and probably need to remove plastic covers?
b.Another question, do I need to replace intake manifold gasket(s) since it is not preferable to reuse such gaskets?
c. How much should be the saprk plug gap?
 
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