Gonna give an, "I'll second that" to the OP. It helps if you have past experience already with working on brakes, but indeed my 2006 LS 430 was probably the most well designed and easiest to work on of any I have ever owned before.
Just did my rear brakes and even including replacing the rotor disks it was simple as pie for a good handyman. For the disks you just remove the two 19mm bolts holding the caliper, swap the disks out then put the caliper right back on. Then you proceed with removing/replacing the pads as described in the OP. (Easier to change out with the calipers in place IMO.)
Yep, hardest part of the job by far was getting the confounded tire back lined up for reinstallation. Doesn't help I am getting so old and weak that I probably couldn't bench press the weight of one tire anymore.
