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Do your self a favor stay away from the 3.0 (3VZE) I put one in and nothing but headaches, and alot of cash. If you are gonna burn some cash the 3.4 is the way to go. I know locally they are reasonably chep 500 to 1200 . Lots of options and kits to make it work. Depends on your budget.
the 3.0 should not even be discussed here.
A Jeep 4.0L will fit in a Yota.http://jeepin.net/forum/showthread.php?t=20750&highlight=xota