How feasible to swap 6 speed behind 5vz-fe?

[Lil'John]

Title somewhat states it.

Short: how easy would it be to swap 6 speed(RA61F or similar) behind 3.4L 5vz-fe?

Long: The trans in my 2002 Tacoma is starting to make some noise so I am going to get a new to me trans with transfer case and change out the clutch. It crossed my mind to look for a RA60F(FJ cruiser) or RA61F(Tacoma) assembly and swapping it in.

Is the bellhousing/input shaft compatible with the 5vz-fe?

Is there a significant length issue or shifter popping out in a really bad location? How about transfer case?(my current is 4wd button shift)

Is there an issue with driveshaft bolt pattern?

It is mostly stock right now with 31" tires and TRD locker. No major plans to super wheel it... yet. Just a daily driver and logging road camper.

 

[Rbx]

I don’t think the bolt patterns are the same but I hate the A60 trans, it’s very delicate. If you are gentle with it you should be fine but in the x-runner it doesn’t like being shifted quickly. It doesn’t have a steel girdle design like the robust R series boxes.
The R150 fits behind the 5VZ and you could swap in a higher 5th gear. There are a few threads around that talk about swapping an R452 5th gear into an R151. I have done this but haven’t been able to test drive it yet. I have a thread on mud and Yotatech.
If it were me I’d rebuild the R150 and add a higher 5th for Hwy miles.
Cheers