2020 V6 stalled and knocking at 162,000k

Me neither. Most of them are white two of them look fouled.

Also noticed oil and soot in the intakes of the driver's side bank. Passenger side intakes are clean and dry.

I have a pic but it's hard to tell by picture

 

I would check PIDs for the fuel pressure and Units of measure.
SAE for HP should be rail A, LP- rail B.
What does it show with key On/ Engine off?
Should be 13 psi for HP
45 psi for LP
at 3000 RPMS High Pressure sensor should be 2400 - 8000 Kpa

 

Ok so I ended up getting the stuck plug out after letting it soak in penetrating oil overnight slightly unscrewed, threads are fine so I'm guessing there was carbon on the threads binding it up.

My buddy is good friends with the foreman at a different Toyota dealership and highly recommended him so I took it to him. He noticed one rail has normal operating pressure of I think it was 300-400 something psi but the other rail was pushing 900. He thinks the knocking was possibly that rails injectors taking a beating from overpressure. I'll update deeper details later..

He recommended a new HP fuel pump. Going to swap that out and I'll let everyone know how it goes once it's all said and done

 

Turns out my values weren't matching up using this Amazon OBD. probably going to look at getting the tech stream system from now on then all of this will make sense in the future

 

Just for a basic troubleshooting you can get Fusion obd2. $5, in app purchase toyota pids $15 + BT adapter that works with the phone OS ($14 for android)
For more advanced troubleshooting you would need a software that has specific active tests to test systems. Does not have to be techstream