2009 Lexus RX350 2GR-FE struck valve in Cyl 3

2GR-Fe engine Cyl 3 misfire, with boroscope able to see the struck valve. I believe its the intake valve. Need to remove engine for a fix. Sorry about the camera shake at times. At 3:01 you would see the valves in question, at 4:11 you would see it being stationary.