I recently purchased a 2020 Camry TRD with that motor. Very solid engine with good power and good MPG. I'd have no issue recommending one.

That would be an excellent choice. Only reason I got the 4 cylinder instead of the V6 was because of gas mileage and I live in Clown Land (AKA California) where it costs $4.50 a gallon for regular 87 gas 

That 3.5L V6 has been in countless other Toyota and Lexus applications since model year 2015 without any real issues, whereas the I4 is a whole new engine part of Toyota’s Dynamic Force Series - more complicated than prior Toyota I4’s - and jury is out on its longevity.  I would feel more comfortable getting the V6, but I still wouldn’t rule out the I4.   Just know we don’t have long term data on the I4 yet but it has been in many vehicles now since model year 2018 and so far is holding up (at least in North America).