For what it's worth, I just had the plugs replaced on my "new" to me 2012 Sienna LE V6 at about 180,000 miles. It never occurred to me to let a dealer do it because I just assumed their price would be outrageous. An independent shop with a good reputation and a good track record on other work for me did it for $576.60. I hope they did the important parts correctly because they did a sloppy job of putting it back together: hose clamps not put back in place, hoses not put back in support brackets, and they broke a couple of wire clamps and just left the wires flopping around. After that disappointing experience, I asked the local dealer to do some other work and, just out of curiosity, asked what the dealer charges for the spark plug job. I was shocked: only $413.99, and that would have included new manifold gaskets and cleaning the throttle body (which I don't think my independent shop did). In hindsight, I really wish I had asked the dealer to do the spark plug job (but not for $1500).
I considered attempting the job myself. In the end I decided not to, but I did a lot of research. If anyone is interested, this is the best video I found on how to change the spark plugs on a 2011-2016 Sienna V6: