No you don't need the YRIDIUM or whatever ripoff plugs they're trying to upsell these days
if you get some normal copper NGKs and change these at a regular interval you should have no problems at all. I used to have an Avalon so I know this is a piece of piss on the 1MZ-FE.
Just did a quick search and found NGK part BKR6EK(P)B-11 - the P denotes platinum - these arent too expensive these days i dont think but is necessary (ie. BKR6EKB-11 is the standard copper plug equivalent).
The repco/supercheap bloke should be able to help you confirm this is right
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