Long, detailed pictorial version...
Right and left are as you are seated in the car.
Use a PhillipsE“head screwdriver
Remove the hatch door pull-down handle.
Remove the cover. No tools required.
Keep track of the clips for the back door trim panel.
Toyota OEM Part Number 90467-101461. There are 10.
View of the right side license plate lamp socket and wire
View of left side license plate lamp socket and wire.
Rotate lamp socket counterclockwise (down)
Rotate lamp socket counterclockwise (up)
Lamp socket shown rotated 45
Lamp socket shown rotated 45
Gently remove lamp socket and wire from license plate lamp lens.
Pull the bulb straight out from the socket. Replace with new bulb
Check of the new bulbs working prior to installation.
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Installation of the sockets into the lens is really the reverse of removal. Pre-rotate the socket 45 counterclockwise of the installed position and place into the lens. Rotate clockwise until it clicks.
Check the lights before installing the cover
Using the 10 clips, reinstall the cover.
It was easier to start with the forward clips, then align the aft clips. Reinstall the hatch door handle.