I worked on these at the dealer when they were under warranty.. I've owned at least 8 since then, and worked on hundreds. This is still about the best engine I've ever come across. A select few crack heads. Headgaskets going away are rare. I'd venture to bet that majority of blown headgaskets are due to improper surface cleaning practices during the X01 campaign to replace headgaskets at the dealer due to the factory having installed them on the wrong sides. Factory sealed engines that have never been overheated seem to never blow the headgaskets. The later 3.4s used an MLS headgasket, which I always switch to if I'm resurfacing both the block and the heads, but they don't play nice with used deck surfaces...the earlier composite head gaskets are more forgiving to surface imperfections but are nowhere near as robust.
If the engines have been well taken care of, I'd bet 95% or better will run to well over 350K miles without more than timing belts. At about the 200-220K mile mark, I start seeing oil leaks...oil pan, VC gaskets. I just yanked a 245K mile engine and the rear main seal was dry...which was a pleasant surprise.
Don't try and outsmart the Toyota engineers...use a name brand conventional 5W-30 oil, regardless of mileage, change it at 4000-5000 mile intervals and they'll about go forever. Synthetic may make you feel better but won't improve longevity and will just cost you more money. Use the oil these engines were designed for. Use good Wix or OE oil filters.
These are relatively low output engines for a 4 cam 3.4L, so it's real tough to hurt 'em. Because of this simple fact, people lose their minds when something major goes wrong well after 200, 300, or even 400K miles. Most other engines would have been replaced once or twice by that point. Toyota has conditioned their owners to expect nothing less. When I went to work for GM dealers, I was shocked to see customers not surprised to spend $1000-$2000 fixing their 4 or 5 year old car...they'd clearly never owned a Toyota. I haven't spend that much on maintaining my 96 4runner between 2008 and now, and it just clicked over 245K. I replaced the engine with a good used because it blew a headgasket...head had been off once in about 2000 for the X01 campaign and again a bit over a year ago for a cracked head...I was skeptical about the condition of the deck so opted for a complete engine due to time restraints.