Yes, very good idea to wait for engine to cool. You should also discharge fuel pressure before you start the job. Now is the time to invest in an Alldata subscription. It will give you all the info you need.
Try this
TOYOTA
All Models - (lower rear edge of driver's door or B-pillar)
link to Duplicolor's website
http://www.duplicolor.com/match/codefinder...ort-toyota.html