Yes definitely get the original OEM Denso plugs and be really cautious of anything you purchase off Amazon a lot of them are counterfeits. You can either go direct to the Toyota dealer or you can go to your local parts store like Napa and just make sure you order the correct Denso Plug.
The plugs look really good pretty even color across all of them no major carbon buildup. Wear on the plug seems typical for 100,000 miles.
I bought six OEM spark plugs at the Toyota dealership parts counter and it was $12!
I've been running Denso IKH24 for 10k miles, have to swap them often but they've been great so far. Frequent changing will prevent damage to them seeing as they are normal projected grounds, but they are pretty cheap to replace once a year or so.
I run [Denso 5749](https://www.densoproducts.com/denso-5749-ikh01-24-iridium-racing-plug) non projected tip plugs with my FBO IS38 car.
They're 1 step colder, and non projected so the risk of a strap breaking off [\(like this\)](https://i.imgur.com/gdJFaJ4.jpeg) are extremely rare.
Denso or Bosh are the best you can return and get new ones
Use NGK and if you can’t find them then go Denso. The only 2 plug brands I would put in a Honda.
My 2010 RX350 with the same V6 has 170k on it and still gets me 24 MPG - Denso factory plugs are life, prove me wrong.
I do need to change the spark plugs. I haven't done that in 10+ years and 100,000+ miles. It just started misfiring slightly I believe (haven't checked the code yet), but it runs and drives well still.
I tried Denso once. I took Denso’s out and replaced them with Denso’s. They ran for 500 miles and quit.
Im running denso step 2 cold plugs from bms website and tbh i regret not going with the hks plugs
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