Preventive maintenance at 96k km

Yes, I'd change the coolant if it hasn't been done. If the brake fluid hasn't been flushed I'd also do that. At every 40,000 km, I'd clean the MAF sensor and throttle body.

 

Yes, now's a good time.

Toyota USA says 100K miles or 10 years for engine coolant first change, and 150K miles or 15 years for inverter coolant first change. Toyota Canada (my country) says 100K miles (160K kms) or 10 years for both.

Toyota USA says nothing, and Toyota Canada says 30K miles (48K kms) or tri-yearly. There is a relatively easy for do it yourself method for this outlined in the Repair Manual, does not require Techstream. And a Techstream method.

More info in all of these in my signature.

 

There's one nut on a bracket on the underside of the EGR cooler that's a royal pain to access. It just takes time, trying different sockets and extensions. I would recommend to take that off in advance (days, weeks in advance), and leave it off. There's plenty of fasteners holding the system. If you're ambitious, back out the stud that nut goes onto, as well (E8 Torx socket required). Or do that when the system's completely removed, and again, leave it off. You don't need to remove anything else to get to this nut, and it's a real time waster to access, so doing it first is a good overture.

Gather all the tools you'll need. You don't need to disconnect either battery. I would recommend to have the front of the car raised and safely supported, and the engine's plastic undershield removed.

For more info, tool list, strategies with coolant, read through the first link in my signature.