I have a '96 4Runner with V6. To change the oil filter I remove the skid shields. I lie under the vehicle (no need to jack it up) and I snake my right arm up so I can grasp the end of the oil filter firmly. My left arm comes across from the front of the engine and helps support my right. Then I use my right hand to rotate the filter. Sometimes it helps to wipe the filter clean so you your hand doesn't slip on the housing.
If the filter is stuck, there appears to be enough room to get a band-and-lever type filter wrench on it from the front. But here's what I do - I punch a hole in the filter with a screwdriver. The engine should not be hot because oil will spill out. There is enough room to get a medium size screwdriver in from the front and swing a ball peen hammer against the handle. Tap until the point of the screwdriver penetrates the filter housing and then push it in all the way and use it as a handle to get the filter moving, then spin the filter off.
Clean up the spilled oil and the filter boss with a paper towel. Oil the new filter's gasket then spin it on. Tighten about 3/4 turn after the gasket touches the engine.
After you've done it once it's easy but the first time might be difficult, especially if the filter was overtightened or if the base gasket wasn't oiled when it was installed.
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