I don’t really think the V6 was a huge selling point for a lot of people with regards to the Camry seeing as the take rate for the V6 Camry has been well under 10% for a good while now. Most people buying the Camry wanted something that was good on gas without being in a car as confining as the Corolla or the Prius, so the new model is fine for 95% of Camry buyers. I’m a bit surprised they didn’t also offer the 2.4T Hybrid Max that would have gotten over 30 MPG in the city, but at the same time Camry sales have been declining globally so Toyota probably didn’t feel it was worth it to put the more powerful motor in the Camry, and it gives them more of a reason to sell the Crown.
The Highlander is taller and slightly wider, but in terms of length and wheelbase it’s actually pretty close to the Crown Signia.
Sort of like how the 2nd gen Highlander and 1st gen Venza were very close in length, width, and wheelbase, but the Highlander was quite a bit taller and had 3 rows of seats.