Is it difficult to replace a headlight on your own?

It's not rocket science. It's not that complex of a procedure. Sometimes clearances can be a little tricky, but generally you pull the electrical connector (by the plug, not the wires), un clip/fasten the retainer, remove old bulb, pick up new bulb by the terminals with a clean dry paper towel (as MDK68GTO says, avoid touching the glass surface with your skin. The oils in it adhere to the glass and shorten the lifespan of the bulb by overheating it. If you do touch it, it's not the end of the world. Just carefully clean it with some methylated spirits or alcohol and a spotless rag or paper towel. Don't force anything. Breaking something you can't fix turns a successful replacement into a waste of time and money.

Your Owners Manual should have instructions for replacing - it's easy on most cars.

Take it to the dealer and they'll want the car for a day, charge you for re-aiming the headlight (which they won't actually do), steal anything you leave in the car and get grease on the interior. (yeah, cynical I know - but also experienced)

Try YouTube. Scotty Kilmer repairs.

very easy, just follow the car manual

see the videos on youtube

if you get your car serviced by Toyota then I suggest let them do it. Do get the cost of fixing from Toyota and few other auto repair shops

Yes, it is easy. The manual should tell you how.

yes, you can replace it yourself, just follow the directions.

they are pretty easy. one bit of advice, do not touch the glass to the bulb. if you do, the bulb will blow pretty quick.