1990 Lexus ES250 Questions

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What is the best way to gain access to the rear plugs on a 6 cly,ES-250 ? I am wondering if a special socket arrabgement is needed?
The exhaust is hanging off, should there be a clamp holding the part on?
WHERE IS IT????? Ive checked all the fuses (though none of them marked as to what they go to) and the wiper motor and they are all fine. Someone told me that it is the wier relay, only I cant find it.