Do you have to torque the cam bolts on a 2.4 toyota truck engine?

Head Bolts Step 1-33 Ft. Lbs. Step 2- Additional 90 DegreesI would check in the service manual as well, just to be sure.

(1) Apply a light coat of engine oil to the threads and under the heads of the cylinder head set bolts.
(2) Using several steps, uniformly install and tighten the 10 cylinder head set bolts and plate washers with a 10 mm bi-hexagon wrench in the order shown in the illustration. Torque:
70 N·m {714 kgf·cm, 52ft·lbf} (c) Mark the front of the cylinder head bolts with paint.

(d) Further tighten the cylinder head bolts 90° as shown in the illustration.
(e) Check that the paint mark is now at a 90° angle to the front. cam bearing caps; Using several steps, uniformly tighten the 10 bearing cap bolts in the sequence shown in the illustration.

Torque:
No. 2 Bearing cap -
30 N·m {301 kgf·cm, 22ft·lbf}
No. 3 Bearing cap -
9.0 N·m {92 kgf·cm, 80in·lbf}

go on line -typr in torque specifications for toyota 1jz engine and there will be a pdf spec sheet of all the vehicle torque settings.

Torque setting Toyota Land-cruiser 80 Series 4.5 1995-98
Engine code: 1FZ-FE, 1HD.
Stage 1: 20 Nm (Start tightening bolts from center to outwards)
Stage 2: 39 Nm
Stage 3: Rotate each bolt by 90 Degrees.
Stage 4: Further rotate each bolt by 90 Degrees

A Chiltons/Haynes repair manual from your local auto parts store that covers your year/make/model has all of your answers under the "engine rebuild" heading.

Torque: 59 N-m (600 kgf-cm, 43 ft-lbf)

on a 2002 2.4 engine head bolts are 'torqued to distance'.

First, install all the bolts, and, in a sequential fashion, starting at the innermost, working outward, torque all bolts to 70 N-m/806 kgf-cm/58 foot lbs.

Next, mark the front side of each head bolt with a dot of paint. Retighten the cylinder head bolts 90 degrees, starting at the inner 2, and working outward.I dont thin anything has changed on this engine since then.

Commonly Asked Torque Specs in foot pounds
The main bolts have a torque of 76 lb.-feet and the cylinder head bolts have 62 lb.-feet of torque. The cylinder head studs have 70 foot-lbs of torque, the cam timing gear have lb.-feet of torque, and the cam bearing bolt has 14 lb.-feet of torque.

Crankshaft Torque Specs

• The stock rod bolts have 46 lb.-feet of torque and the ARP rod bolts have 50 lb.-feet of torque. The crankshaft pulley has 116 lb.-feet of torque, while the flywheel has 80 lb.-feet of torque.
  

Other Torque Specs

• The intake manifold and exhaust manifold have 33 lb.-feet of torque each and the oil pan bolts have 9 lb.-feet of torque. The cam timing gear has 58 lb.-feet of torque and the cam bearing bolt has 14 lb.-feet of torque. One set of timing cover bolts have 9 lb.-feet of torque and another set has 29 lb.-feet of torque
  

heres the torque specs and the way to tighten the head bolts for your 1998 toyota sienna, hope this helps,
12 point bolts step 1- 40 ft lbs
step 2- additional 90 degrees
recessed bolt 13 ftlbs

Crank Main caps Tightening Torque

For the 12 Pointed Head Bearing Cap Sub-Assembly Bolts
Start from center bolts and tighten in a clockwise rotation working out
Step 1 all bolts 22 Nm or 16 ft lb
Step 2 all bolts 44 Nm or 32 ft lb
Step 3 all bolts 45 degrees additional clockwise rotation using an angle indicator.
Step 4 all bolts 45 degrees additional clockwise rotation using an angle indicator.

Hexagon Head Bearing Cap Sub-Assembly Bolts
1ZZ-FE Engine 18.5 Nm (14 ft.lb)
2ZZ-GE Engine 18 Nm (13 ft.lb)

Connecting rod:
1. Apply a light coat of engine oil on the threads and under the heads of the connecting rod cap bolts.
2. Install and alternately tighten the 2 connecting rod cap bolts in several passes. Torque: 1ZZ-FE: 20 Nm (204 kgf-cm, 15 ft. lbs.) 2ZZ-GE: 30 Nm (306 kgf-cm, 22 ft. lbs.) If any of the connecting rod cap bolts does not meet the torque specification, replace the connecting rod cap bolts.
3. Retighten the cap bolts by 90° more
4. Check that the crankshaft turns smoothly.