Overseas, there exists a variant with manual. I believe the only 200-series with such was a low end 4.0L 1GR-FE gasser (think 4Runner motor) with a 5-speed manual. IIRC, all 200-diesels were 6-speed autos as I don't think Toyota has in its inventory a manual capable of handling the torque of the bigger motors.
Practically speaking, and I've done a couple engine swaps, I would not dare try on a electronics laden 200-series. As an interesting thought experiment, and people have built unicorns for less reasons, performance surely wouldn't be one of them. The 5.7L is the pinnacle motor for the 200-series. Even the overseas 4.5L diesel, won't match the power (HP) output of the 5.7L, unless really blown with serious forced induction. One can do the same with the 5.7L if going that far. For torque, which is really about wheel torque, there is always gearing to pair with the big bore 5.7L which is no slouch in that arena. Then consider the weight aspect of a diesel impacting payload, slower response... there wouldn't be many reasons to do so. Efficiency would be about the only one, and there are big aux tank options to support the 5.7L.