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.
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