No, the 6-speed is only in the 1GR-powered 2nd gen. Tacomas. It's an Aisin AY6 trans and uses a big 275mm (10-7/8") clutch. The flywheel is much larger, as well.
The 3RZ trucks used a W59, 5VZ trucks used the R151(F), and the new 2TR 4-cyl Tacomas use the R150(F). The 2RZ-powered base...