Call up a Toyota parts department and give them your VIN to get the correct part numbers. Take the Toyota part numbers and go to the DENSO web site and get the DENSO part number. Order the DENSO sensors. Amazon.com has them at great prices. Search on the Amazon web site using the DENSO part numbers. Only use DENSO sensors.
The front A/F Ratio sensor (Calif) is in front of the engine by the radiator (Bank 2, Sensor 1). The rear A/F Ratio sensor (Calif) is the one behind the engine under the firewall (Bank 1, Sensor 1).
The downstream HO2 sensor is Bank 1, Sensor 2.
You should not need any special tools to remove and replace the sensors.
Test the sensors before you replace them. The codes you listed all refer to A/F ratio sensors, so concentrate on the upstream sensors (Sensor 1)
Test the heaters of the A/F Ratio sensors (Banks 1 & 2, Sensor 1) by disconnecting the plug and check the resistance between the two terminals (B+ and HT, nearest the three-ridge side) leading to the sensor. The resistances should be 0.8 - 1.4 ohms at room temperature and 1.8 - 3.2 ohms at operating temperature. If you replace them, torque is 31 ft-lbs.
Test the heater circuit of the HO2 sensor (Bank 1, Sensor 2) the same way. Resistance should be 11 - 16 ohms at room temperature and 23 - 32 ohms at operating temperature. Torque is 32 ft-lbs. This sensor is accessed by removing the driver seat and carpet.
If you have no clue, replace one sensor at a time, easiest one first.
If you send me your e-mail address, I can send you a Field Service Manual for your vehicle.