First and foremost, thank you soreneagle for posting that Youtube video. It taught me the location of the OEM relay and the replacement part for LED lights. That being said, I decided to go into a little more detail for everybody.
PS: This job is a pita if you are really tall, so I took the easy way out by skipping the 10mm lag screw removal:
First, I used my finger to pray away both of the side clips of the OEM relay.
Next, I used a flat head screwdriver to snap off one side of the OEM relay's bracket sleeve.
This was enough for me to pry off the oem relay from the metal bracket using the flat head screwdriver. Here's where the metal bracket is located.
After the OEM relay detached from the bracket, I still needed to pull it down to remove it from the harness. There is a giant pigtail of wires that need to be carefully pushed aside.
While pushing the pigtail aside with one hand, use your other to squeeze the OEM relay past the pigtail.
This is what the OEM relay from my 2002 LX470 looks like.
[image link] (I'm only allowed to add five images to my post)