The engine in my Gen5 4runner

They used this engine for the last time in the 2024 model, then in 2025 switched to a 4 cylinder turbocharged engine. (Getting 21 mpg rather than 19).

This engine was an option for the Gen4 4runner (2003 - 2009).
Then it was the only V6 option for the Gen5 (2010 - 2024).

This engine was also used in the Gen2 Tacoma (2005 - 2015).

My 2000 Gen1 Tacoma had the 3.4L 5VZ-FE engine.