Here's my issue. The same factory that builds the 4runner also builds the same chassis (not exactly but very very similar) for the Prado 150. And in that same factory they manufacture a prado 150 with the 1GR and the A760f. They also build a prado 150 with the 3.5l ac60 for Asian markets. The AC60 is an updated A760. And they also manufacture the Prado with the v8 and a760f. So every gas engine that's offered is already matched with the 6AT in the same platform in the same factory. It's just a matter of choosing the transmission from the parts bin. 6AT or 5AT. And the 4Runner gets the 5AT while everyone else gets a 6AT.
And the a750 was always a 6 speed internally. It was almost certainly engineered from day 1 as a 6 speed, (or a very lucky coincidence that the same internals randomly had a 6th gear that only required different solenoid engagement pattern to use). And internally the A750F has all 6 gears in the gear train. It just isn't setup to shift into all 6.
From where I sit - I see that every 150 platform for every market I know of gets a 6AT except the 4Runner. And the 4Runner is actually the more expensive of the twins in markets where the Prado 150 and 4Runner are both sold, - how is it that the 4Runner still gets the 5AT? I can only conclude that Toyota just doesn't care. I'm pretty confident Toyota could figure out how to put the 6 speed version of the same transmission in a 4Runner with almost no effort if anyone at toyota cared even a tiny little bit about it. And they also already have 4.56 gears for both diffs in the parts bin. That also should be a non-issue. Toyota claims that the 6AT is 8% more efficient in other models than the 5 speed because of the extra gear range. If the 5 speed still soldiering on in the 4Runner isn't the result of apathy toward the product - I really can't think of another logical explanation.
You can look through part by part yourself if you're super bored: