It is V6 in Toyota. In VW it is VR6, that is where difference is.
First of all, Toyota makes V6 same like other manufacturers: Nissan, Mitsubishi, Honda, GM, etc.
They packed it in what it is a Camry on steroids. It is really not friendly environment under the hood as it is limited space. Now if you think HL is bad, come check under the hood of my Sienna.
Others who use V6 in platforms derived from regular cars (transverse application) have same issues. It is not only spark plugs. Try changing master cylinder that is as robust on Toyota as butter. But, you would face more or less same issue on other vehicles.
Now going to VW. Their VR6 is different design and more expensive one, but it delivers better performance and worse mpg.
It has only one head as pistons are under 10.6 degrees angle. Basically it is V engine length wise but almost inline six, hence VR designation where R is “Reihenmotor” or inline engine.
The reason why they did this is to fit V engine in Corrado in 1991. Transverse application but very small vehicle. Now, forget the fact that it was understeer monster as it was superheavy for such vehicle. But, they kept concept and Audi, Porsche and VW all used this 3.6 since 2006 when it was introduced.
It is probably most reliable engine in this category of family SUV’s as it is on the market for a long time. And yes, it is much easier to work on. It delivers much better torque as it develops max torque already at 2,750rpms compared to 2GR-FKS which is at 4,700rpms.
Also, bcs. cylinders are in narrow angle it has ridiculously good sound.
But it is thirsty engine. Don’t hope for more than 20-22mpg on hwy.
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