Depends on the plugs. This model year came with Iridium plugs that are capable of lasting more than 100,000 miles. I used mine for 120,000 miles. If you replaced them, you should go by the recommendation of the manufacturer of the new plugs. Some are only good for 20,000 miles, the average might be 30,000-40,000 miles. If you notice a drop off in fuel economy or any type of engine performance problem or sometimes a check engine light related to the plugs, then you probably waited too long to replace them.
How to change sparks on Toyota Rav 4 2003
Factory recommendation to change the spark plugs on a 2000 Toyota Avalon is 120.000 miles.
http://echodrivers.com/forum/viewtopic.php?t=4605url
Every 30,000 miles except platinum plugs
The 2000 Toyota Avalon spark plugs can be located on each side of the engine. The spark plugs will be near the bottom of the engine. There are three spark plugs on each side.
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Depends on year and model mine is the estima aeras 2000 v6 1fe az front three plugs are easy but you have remove the plenum to access the three rear plugs as they are impossible to get at
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It is probably your spark plugs misfiring.
A diagram of how to change and how many spark plugs are on a 2000 Mercedes e320