Parts list for EGR and Intake Manifold Cleaning?

The only gasket I know of around that are are on the intake manifold but you don't need to remove it to replace the plugs or clean the throttle body.

I don't know about the EGR valve but you'll want to get a can of throttle body cleaner and a can of MAF sensor cleaner. (Make sure it specifies that on the cans.) I just cleaned my wife's 2017 Prius last summer and it has a little crud in there but not too bad. Before you start, disconnect the negative battery terminal. There's a computer that controls the butterfly flap but it's okay to gently and slowly move it up with a soft instrument or your finger so you can put a rag you sprayed with the cleaner and wipe it all out. Just keep cleaning all around and include the edge of the butterfly flap until the rag comes out clean.

For the plugs, get the OEM iridiums from Toyota and remove when the car is warm, not hot or cold, works best with the aluminum head. Do everything by hand, no power tools and then you'll need to torque when installing the new plugs. This tool works great: LEXIVON 5/8" Swivel Magnetic Spark Plug Socket, 3/8" Drive x 6" Total Length | Enhanced Magnetic Design With Thin Wall Socket, Cr-v Steel (LX-121)

I've heard some say the car might run a little rough after doing these jobs but the computers will figure it out pretty quick. I haven't seen it in the few Toyota's I've done but did see it in my friend's old Suzuki I worked on with him...ran strange for about 30 minutes.

 

The gasket between the manifold and the head is the fat silicone kind, which you can (usually) get away with reusing in a pinch. But replacing it is a good idea; it does get a little bit hard and flat after it's been there some tens of thousands of miles.

The small one between the manifold and EGR pipe is the same kind. The ones between the rest of the EGR components are flat metal gaskets you can probably also get away with reusing if they're in good condition.

 

What is the mileage on the odometer?

I wouldn't change the sparkplugs unless you are past 120k miles. It's a pain to take off the windshield cowling, but you need to do it for the EGR valve and cooler anyway.

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How many miles on it? FWIW at 70k kms when doing EGR cleaning, I replaced nothing, and have had no subsequent issues.

OTOH, over 100k miles, probably good to change all the pliable gaskets on the intake manifold, at interface with:

Engine intake ports
Throttle body
EGR pipe