[Jason.MZW20]

SAE J1349 specs:

MZ, VVT-i, 2000+

3.0L 1MZ - 190hp @ 5600rpm, 197lb-ft @ 4400rpm (87 octane)
3.0L 1MZ - 198hp @ 5600rpm, 211lb-ft @ 4400rpm (91 octane)#
3.3L 3MZ - 210hp @ 5600rpm, 220lb-ft @ 3600rpm (87 octane)
3.3L 3MZ - 218hp @ 5600rpm, 236lb-ft @ 3600rpm (91 octane)

# Estimation - engine was not tested with 91 octane

Note the loss in performance by using 87 octane.

GR, VVT-i/DVVT-i, 2003+

4.0L 1GR - 236hp @ 5200rpm, 266lb-ft @ 4000rpm (87 octane)*
4.0L 1GR - 239hp @ 5200rpm, 278lb-ft @ 3700rpm (91 octane)*
4.0L 1GR - 304hp @ 5400rpm, 334lb-ft @ 3600rpm (91 octane, supercharged)*
3.5L 2GR - 268hp @ 6200rpm, 248lb-ft @ 4700rpm (87 octane)**
3.5L 2GR - 272hp @ 6200rpm, 254lb-ft @ 4700rpm (91 octane)**

Direct injected, RWD versions
3.5L 2GR - 306hp @ 6400rpm, 277lb-ft @ 4800rpm (91 octane, IS350)^**
3.5L 2GR - 303hp @ 6200rpm, 274lb-ft @ 3600rpm (91 octane, GS350)^**
3.0L 3GR - 245hp @ 6200rpm, 230lb-ft @ 3600rpm (91 octane)**
2.5L 4GR - 204hp @ 6400rpm, 185lb-ft @ 4400rpm (91 octane)**

* Single VVT-i, normal cams (no roller rocker assemblies; exclusive to the 1GR heads)
** Dual VVT-i, roller rockers
^ Dual fuel injection or D-4S, port and direct

Also:

The 1MZ had two variants in non VVT-i form, based off of the 1997 returnless fuel system model.

Camry, 1997-2003
3.0L 1MZ - 194hp @ 5200rpm, 209lb-ft @ 4400rpm

Solara, 1999-2003
3.0L 1MZ - 200hp @ 5200rpm, 214lb-ft @ 4400rpm

According to official Toyota papers, engineers changed the intake and exhaust plumbing to enhance the 1MZ's performance specifically for the Solara.