My personal opinion is that the 2GR-FE is a good, but not great engine. It seems to have pretty low internal friction, is relatively efficient over a good portion of engine speeds, but doesn't make a lot of either horsepower or torque. Toyota really reaped the benefits of using this engine in a wide variety of vehicles though.
I thought this engine originally was a truck engine that was destroked down to 3.5 liters. I do know that subsequently, it gained direct injection and was used in vehicles like the IS350, where it topped 300 HP.
3.5 liter engines became popular in the later 90's and early 2000's. We had a 2002 Honda Odyssey with one that made 240 HP, and the VQ series started out around there and went up to over 300 HP now as well. So, when this motor made its debut in 2005 or so, the power levels it was at were just the normal progression and not anything out of the ordinary. Even Lotus when it used this engine in the Evora, could only get 7 more HP than it made in the Rav.