Many of these swaps use either the W56 transmission or the R151 (there are bellhousing adapters for both) but I decided to keep the automatic. Inchworm makes their Pre-Runner adapter to convert a 2wd Tacoma to 4WD using a standard Toyota 21/23 spline right side drop transfer case. Since the Lexus uses the same A340E transmission it will bolt right up.
Here is the adapter. Its a 2 piece unit. Its basically Advanced Adapter's Chevy TH350 to Toyota transfer case adapter and then there is a machined adapter to connect the adapter to a Toyota transmission.

Transmission with the output cover removed. The shaft has to be cut near where the splines end. Unfortunately I was too anxious to get it together so I never got pics of it cut. The instructions that came with Inchworms adapter are for the Toyota version of the tranny, which uses a different output than the Lexus version so the measurments are not the same. It was pretty easy to just measure where it needed to be cut though. Remember, measure three times and cut once, or in my case measure about twenty times.
