1. Remove the plastic studs along the outside edge of the wheel well.
2. Work the plastic away from the body
3. You now have much easier access to the parking light socket (especially on the right side)
source: http://www.rav4world.com/forums/95-4-2-d-i-y-modifications/73156-how-replace-parking-lamps.html
For bulb info see sources and related links below.
To replace the dome light in your 2005 Toyota, you will need a flat screwdriver to remove the screws and pry the dome light cover from the light. You can then access the light to change the bulb or replace the entire bulb and cover.
Look at it and you will figure it out.
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