I recently drove a NX350 with the new turbo powertrain. I wouldn't miss the V6 much. Maybe, I'll miss the V6 sound and smoothness, but really, how often am I driving the my HL past 3500 rpm? The torque band of the i-4 turbo is much wider so it actually pairs better with the 8 speed transmission. I've never liked the tuning of my 2GR-FKS + 8 speed powertrain, even after the visits to the dealership to get it reprogrammed to shift better. Too much shifting, gear hunting when driving in variable conditions and grades such that I often ended up using 'S' mode to hold gears. I always hated how the transmission would do the 1-2-3-2 shift when turning left from a red light. That premature shift into 3rd gear is annoying to this day.
The turbo four has more oomph at low revs such that the transmission shifts much less, resulting in a smoother experience overall. Overall, I'm a fan. If you don't like the sound and character of an inline 4, then sure, the V6 is for you. Regarding turbos, I've owned other turbo vehicles to 250K+ miles and don't have any qualms about the reliability of modern day turbo systems.
I wouldn't worry about the drop in hp. Specs are well, just specs. The 2GR-FKS makes peak power at 6,600 rpm and this powertrain makes it pretty difficult to access that power. I don't know anybody who drag races a highlander. Even peak torque is at a high 4,700 rpm. For practical purposes, the new engine will be more "powerful" in daily driving. If you're curious, I suggest test driving it rather than listening to the "i ain't going no turbo!" crowd. G'luck!