I agree it sounds like something under the timing cover -- timing belt loss of tension, water pump going bad, etc. Many service items are under this cover, water pump, oil pump, timing belt, tensioner, idler pulley, seals. These should be replaced anyway at about 100,000 miles, and it is so much trouble to open it up that it is smart to replace all of them while you are in there. I bought a Gates kit, Gates makes very good belts and hoses, but later on Amazon reviews I read that Gates water pumps sometimes failed early. So with the car apart, I went to NAPA on a Sunday and got the bigger Aisin kit which includes the entire water pump with backing plate attached.
Just to look inside the upper timing cover, you have to take off the "dog bone" engine stabilizer mount with its brackets, the alternator and its brackets, etc. The four cylinder is actually harder than the six cylinder because it's pushed right up against the wheel well, very little room for wrenches. Some suggest lifting the pulley end of the engine a bit to get more clearance. The V6 is only 3 cylinders wide, so you have more room.
Is there a Toyota specialist garage in your area? Good reviews on Nextdoor, Facebook, etc? Call them and get a price for a FULL timing belt job. Then add up the parts prices for doing it yourself and compare. Don't forget the tools you need: Torque wrench, tool to hold the cam gear while you unbolt it, tool to pull cam and crank seals, tool to install cam and crank seals, impact wrench to undo crank bolt, puller to remove crank pulley and crank gear, tool to hold crank pulley while you torque it back on. Some of these tools can be "rented" for free from your local parts store.
Professionals don't always do it right, though. I took my '99 to a highly regarded import garage for the timing belt, and it failed 50,000 miles later. When I took it apart, I found that they had left off the big washer that keeps the timing belt from walking off the end of the crankshaft belt gear. The belt had wandered over occasionally and gotten chewed up by the edges of the gear teeth. I replaced everything myself this time and it lasted until I sold the car 100,000 miles later. (I told the buyer that the timing belt was due)
The 4th generation Camrys and the 5S-fe engine are kind of a pinnacle of design and engineering, and well worth fixing.