Apparently the second generation wide-body Camry (VX20) from 1996 to 2001 used the S51 5-speed manual, including the TRD V6. So how fragile can the S-series be?
I repeat: the E-series remains my first choice.
Also, it's not just the size of the engine, actually - the size of the load/resistance also matters. The Camry, being much heavier than a Corolla, required a heavier transmission. The Rav4, having more mass, bigger wheels and AWD, required something heavier still, which is why (or so it would seem) it uses a much different transmission to the Camry. (The Rav4 and Camry did share automatics, though. U-series. Not too surprising, as they shared engines.)
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