Every 60k miles or every 6 years, whichever is sooner, I believe is the official line. There is probably no reason to replace them due to age, as it is the mileage that causes the wear however I would remove them every 6 years, or at least loosen and retighten them, to avoid them seizing.
Don't run them past the recommended mileage, they can wear and part of the electrode can come away and damage the cylinder wall.
Not much between Denso and NGK. I alway use Denso, keeps it in the family as Toyota own part of Denso.
Don't know how many covers need to be removed to get to the plugs on your age of LS, I'd guess 1 to 1.5 hours in total - hopefully others can give a more accurate time.