I likely will do that because I have an exhaust leak from one of my cats. Only problem is all the nuts are hopelessly rusted on :/
The easiest thing to do is drop the whole exhaust system, First jack up the truck and support it on jack stands, next disconnect both O2 sensors, then disconnect the exhaust where the head pipes connect to the exhaust manifolds, Next place a floor jack under the exhaust system to support it's weight,
Then disconnect the hanger clamp on the exhaust pipes in the engine bay on the passengers side firewall, Last unbolt the exit side of the cats from the Y pipe, and lower the whole exhaust system out of the truck ,
Once out of the truck it will be easy to cut off the rusted bolts holding the cats in place,
Oh one last thing, DON'T sell, or throw away the old factory cats, Who knows, when the time comes to sell your truck, the new owner just may want them, Or you may move to a state where emissions testing is required, in that case you'll need to reinstall them,
The last time i did this job these were the Toyota factory part numbers for the different gaskets you'll need to put everything back together
90080-43036 for head pipe to exhaust manifold gasket, cost as of 6-23-2023 $10,89 each, Toyota's parts book list this as "gasket exhaust pipe"
17451-52060 cat inlet gasket, cost as of 6-23-2023 $7,79 each, Toyota's parts book list this as "gasket exhaust pipe"
90917-06076 cat outlet gasket, cost as of 6-23-2023 $14,31 each, Toyota's parts book list this as "gasket catalytic converter"
You'll need 2 of each of these part numbers in order to complete this job,