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I'm not a mechanic and it's been several years since I've replaced the plugs on my 1996 ES300 (assuming 94-96 models are similar), I was able to replace the rear plugs w/o removing the manifold. I used extensions that locked onto the spark plug socket so that the socket wouldn't come unattached. I think I also used a universal joint for a little extra freedom for manuevering the wrench. You can't really see what you're doing but with a little patience, it's not too bad.

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Q: How much labor time involved on a 1994 Lexus ES300 to remove intake manifold to replace rear spark plugs and is this the only way to replace them?
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