Yes, if you are willing to spend the money. Be aware that it will cost more, not just for a more expensive engine, but for getting it all connected and programmed right.

Also, maybe one of the Toyota people here can comment, but in some cases it might require changing the transmission and differential(s) too, in which case it would probably be prohibitive. 

Well some engines and Toyotas are exactly the same in different models but some also have differences in sensors and software and engine displacement size.

I remember the Trans Am, Camaro, Buick Regal, Monte Carlo, and Chevy Caprice all had interchangeable V6's to V8's. Just change the motor mounts, maybe the tranny, etc.