Your reply is exactly what I am afraid of doing (breaking the valve or damaging the grommet). I want to remove & clean the PCV valve so damage to the part is more critical than if I was replacing it. Most PCV valves simply pull straight out, but this one seems to be locked in somehow. I have the service manual, but it does not instruct on the exact technique to remove. I called a local Lexus dealership & a Toyota dealership and nobody in the service or parts department knew how to remove. They suggested I call 800-25-LEXUS for help. I called and they could not figure it out, but they suggested I go to techinfo.toyota.com for help. I went there, but it seems to be a paid subscription site.
Oh well, if anyone has a fool-proof way of removing, cleaning & replacing the PCV valve without damaging it or the grommet, please reply. Thanks to everyone for your posts.