Wondering how one remove the spark plugs on a Rodeo 2004. Appears to be a long black rubber tube to the spark plug.

Yes, it is a long black tube to the engine block. Use an extender from the wrench to the plug socket. Be very careful unseating the plug...Note, I've read in other forums that Rodeos can be very temperamental if plugs other than what you have in there are used. I think they are NGKs....

the rubber tube is actually the boot that is "suposed to be" attached to the coil pack you may have to grab it with some pliers and twist it to get it to come free from the plug itself and the plugs you want to use are called denso's they are actually an iridium plug but im confused as to why you would need new ones on 04 those plugs should get you to atleast 80k miles unless you have driven the wheels off of it I dont supose they are needed just yet