Basically here is where both motors stand:
2.5L
180hp @ 6,000 rpm
173ft-lbs @ 4,100 rpm
2.7L
187hp @ 5,800 rpm
186ft-lbs @ 4,100 rpm
Both engines get peak torque at the same rpm. I guess maybe 14 ft-lbs may be a big deal to some. I have driven the 2.5L and it has decent oomph from a dead stop. I did drive a 4 cylinder Venza several years ago and it seemed dead. I am willing to bet that the Venza weights far more than a Rav4.
Toyota could have gone the direct injection route with the 2.5L and get 200hp and 200 ft-lbs EASILY. DI can allow 100 hp per liter nowadays. That's before a turbo too.
But anyways, the Venza is probably on its way to the grave yard. Sienna dumped the 4 banger and I have a feeling the 2.0 turbo from the NX will make its way to the Highlander.
I guess in my perspective, such a small gain would not make much sense to put a whole new engine. Unless of course the 2.7L already existed. If so, then why are 4 banger Tacomas being sold with a gimped engine? Is it to get buyers to buy the V6?