See image below for gaskets on EGR system.
Get these crush gaskets from Toyota, they are cheap and fairly easy to replace. NOTE: on the image below, it has them listed as the same part number, but double check at Toyota, because I think the gaskets are different from each other and therefor should have different part numbers, but I could be wrong...
You can replace them with the manifolds still on the truck.
Remove the shield under the steering rod that is bolted to the DS frame rail (3x12mm) - easiest to access the front two bolts from outside the DS wheel well, and rear from underneath the truck.
Remove the two 14mm bolts (90119-10047 in image below) that hold the cooler (25680 in image below) to the engine block - should be able to reuse 14mm bolts.
Remove nut (25601B) that holds j-pipe (25601) to the cooler - I use a plumber's wrench, it gives you more options on different angles to position the wrench on the nut- should be able to reuse nut and sleeve here.
Remove the two nuts (90179-08128) that hold the top of the j-pipe to the exhaust manifold - I would order two new nuts here (...ha, yeah, I see the joke...) from Toyota along with the gaskets.
When reinstalling, liberally apply Permatex Copper anti-sieze on the cleaned threads.
For Top gasket, it's even more straight forward...