The 4.0-liter V6 Toyota 1GR-FE engine has been produced in factories in Japan and the USA since 2002 and is installed in many pickups and SUVs, but is best known for the Land Cruiser Prado. There are two generations of this power unit: with VVT-i and Dual VVT-i type phase regulators.

In 2002, a new 4.0-liter unit debuted on the Land Cruiser Prado 120 SUV. By design, this is a classic V6 engine for its time with a 60° camber angle. It has distributed fuel injection, an aluminum block with an open cooling jacket and cast-iron sleeves, aluminum DOHC cylinder heads without hydraulic lifters, a timing chain drive. The first generation of this motor was equipped with VVTi phase shifters only on the intake shafts.