The story
History: facts, each with its source
Wikipedia lists the 3.0L 1MZ-FE in the Camry from 1994, the Sienna and the Lexus RX 300, and in the Highlander from 2000 to 2003 with VVT-i and 220 hp. The 3.3L 3MZ-FE replaced it in the Highlander from 2004 to 2007 with 230 hp. The GR V6s followed.1
80/20 Automotive says the 1MZ-FE is known for great reliability and longevity, and most should reach 200,000 miles without major repairs.2