This is mine, 2003 Sienna 1MZFE at about 90K miles.
OCI of 5K with "synthetic" at a Valvoline shop.
Same after a very light wipe down with a rag soaked with Berryman's B12 Chemtool....and some oil drizzled over things before putting the valve cover back on.
The oil had AutoRX in it.
NO SLUDGE.....some VERY thin and light deposits that wiped right off, no scrubbing needed.
OK....a LITTLE scrubbing on the sides of the spark plug tubes and the underside of the valve covers.
USE CARE to avoid pressing sideways on the spark plug tubes as they are set into the head with a sealant to prevent leakage.
My point being.......things can look worse than they are.
The dark rough areas are just rough casting surfaces that are wet with oil.....
I am now running Redline oil and expect it will look better in the future, but not run or perform better than it does now (which is very good).