It's nothing to do with a straight or v engine just how it has been designed. Nearly all Toyota engines are non interference, 4 cylinders, i6, V6 and V8 (not the 4.7 V8). The timing belts Toyota use are also strong and it's rare for one to fail before the change interval or a long time past it.
Nearly all Honda, Nissan, VW, Audi engines are interference. My old boss had a cambelt fail on his Audi A4 after only 28,000 milies - under half the change interval and did a lot of damage!