If it is a V6 engine No you do not, If the 4 cylinder uses the same type of cam-follower arrangement it is basically the same procedure as outlined here for the V6. The tool for the follower may be different also.
Remove valve covers
Remove spark plugs
Remove rh front wheel
Remove splash shield in wheel well to expose the crankshaft pulley and center ...
Yes you can clean it out, but as always, there are some things to be aware of in the process.
Use carb cleaner, not gasoline. Do this not only because it will work better, but for safety reasons as well. Brake cleaner would work well, too.
When cleaning, you're only cleaning the pocket end (end away from the electrical connection). What you'd be doing is ...