Looking back at my original post, it really highlights how powertrain development is the central point to all business plans and strategies of a car company. You can talk about the F brand all you want, but at the end of the day, if there's no engine, there's no car.
In the past decade, we saw Toyota going from proactive development for market competitiveness, to reactive development for regulations compliance. They admitted this themselves: the chief engineer of Land Cruiser Prado J250 said they only launch new powertrains and platforms when emissions and safety regulations could no longer be met with existing products. This means they will inevitably fall behind and sometimes even have periods where products are completely banned due to non-compliance (happened to 1NX in China, 3IS and RC in Europe).
Go back 2 decades when Toyota first released the "xR" series of engines. They were the first company on the market to offer direct-port dual injection technology (2GR-FSE), combined Otto-Atkinson cycle operation (2GR-FXE), water-cooled EGR system, electronic VVT (1UR-FSE), continuous VVL (2ZR-FAE) etc. The Dynamic Force family also used to be quite advanced for its time, but is also approaching its 8th year without a technology refresh (the ESTEC refresh of the GR/UR/AR series happened in their 8th year). Now the entire TMC lineup have really outdated powertrains that are in danger of failing emissions again. They are also way too late to re-invest in forced induction. The 8AR-FTS was the first FI engine they developed since 3S-GTE, and its Dynamic Force successor is actually less advanced. When they finally decided to build a high-stress, high output FI engine (V35), they got disastrous reliability.
With this kind of company culture, it's impossible to have a competitive performance lineup where staying at the cutting edge is key. If we were to believe BestCar's rumors, they were constantly changing the goal post for the 4.0L V8TT engine: first 600PS, then 650PS, then decided to create a high-torque variant for LF-1, then found out they couldn't pass Euro 6d causing a 2 year delay, then moved the target up again to 700+PS, then had to reduce the target to 650PS because Euro 7 is knocking on the door. They were always benchmarking against what's available at the time, not future-proofing it. It should be such a simple concept: if you design a product to just compete with existing products today, you already lost because competitors are designing their next generation at the same time.