I think the location of the starter makes some sense. It's protected and may be cooler than being right next to the exhaust. The GM Northstar v8, Nissan 5.6L v8, and Porsche Cayenne for some generations have them in the V also underneath the intake manifold. Probably a few others. Amazingly I think there are some BMW inline 6 engines that require removing the intake manifold to change the starter. Somehow they found a place on an inline engine to make it just as hard.
I don't think I've ever had a starter actually go out in a Toyota. I'm sure it's happened. But I've never had it on any of mine. Maybe just lucky. Had a few GMs, but they were easy to swap with a few bolts and easy access.
Original starter in both my 05 LC and 06 Corolla. I'll replace it when it fails. It doesn't make sense to me when I see people replacing a factory original Toyota starter for no reason other than PM. Especially on the 2UZ where you need to remove the intake you also risk debris / sand / dirt making it's way inside the intake ports into the engine. I actually consider a 2UZ starter replacement as a potential red flag since you don't know if proper care was taken before and during the job to prevent this. And speaking of needlessly replacing working parts that can last a long time, the same goes for Toyota ignition coils.