If it's from the rust belt, 23K sounds about right for a 2013 rig with 200K.That year is certainly worth more than $23k. I'm curious how common this really is, after all there are so many of these engines out there in several vehicles by Toyota. Recall the 1FZ-FE in the 80 is known for blown head gaskets, doesn't stop anyone from driving it. That said it is repairable, I think the point here is the cost to properly repair the UR V8.
Let's see what long-term issues the V35A starts showing once those rigs start getting into 6-digit mileage and 5-plus-year-old territory (I think everyone will still praise the UR). I will admit it was stupid on Toyota's part not to have more frequent coolant interval changes. I'll bet on the current 2URs sold in the Lexus line that they are still making this dumb recommendation of 100K coolant intervals.