The starter motor on this 2UZ-FE engine is installed under the intake manifold between the cylinder heads, making it a lengthy procedure to perform if you need a diagram go to sinautoscan.com/forum al post one up for you
The starter is located under the intake manifold in the valley of the V8.
At the rear of the engine just before the firewall looking from above ( on this vehicle starter is removed from above no need to go underneath car) you'll notice a metal coolant crossover pipe attached to the engine block which has hoses that go thru the firewall. It almost looks like a silver dog biscuit Just below that your starter is located. It is still difficult to see.