I'm in the middle of this, now, on my 2001 4WD V6. Everything Ab6cr says is dead on . I would add, though . . . be sure to have all parts you think you may need, in hand before starting. Upon disassembly, I found my idler pulley to be a bit rattley, so I've had to leave the truck torn apart for a week now, waiting on a new idler.
Here are some images to inspire you:
This is with everything removed and the belt ready to come off. I didn't have to remove the power steering pump; remove the three mounting bolts and lever it out of the way. Also, the radiator can stay in place, though, don't damage it; I used an impact to remove the crankshaft pulley bolt and had plenty of clearance with the radiator installed.
This one is with the idler pulley and water pump removed. I had intended to replace it as a matter of preventative maintenance, anyway, and found it seeping a bit through the weep hole.
All-in-all, I will have replaced the following during the timing belt replacement. These are things I would add to your list (keep in mind, my truck only has ~77k miles)
Timing belt
Timing belt tensioner and idler pulley assemblies and tensioner pushrod
Water pump
crankshaft front oil seal
camshaft front oil seals
lower radiator hose
upper radiator hose
serpentine belt
serpentine belt tensioner assembly and idler pulley
Finally, if it looks damaged or worn, replace it. Good luck.