The story
History: facts, each with its source
80/20 Automotive says the 3.5L 2GR-FE has been in many Toyota, Lexus and Lotus models since 2005. Wikipedia lists it in the RAV4 from 2005 to 2012 and the Highlander from 2007 to 2016, among others. It varies the timing of both cams.1,2
The 2GR-FKS followed in the 2015 Lexus RX 350. It adds direct injection beside the port injectors and can run on the Atkinson cycle. Wikipedia lists it in the Tacoma from 2015 to 2023 and the Highlander from 2017.2