Justen: Another option is the 3CT Turbo diesel 4-speed Auto box, they came in the Toyota Estima.... www.justjap.com.au list an Estima Emina/Lucida as a halfcut "coming soon"...
The 3CT uses the same bellhousing as a S series I believe.
EDIT: Actually the Estima may be 4WD only, not too sure. The JDM Liteace had the 2C-T and 3C-T (in later models) as well, most of them are RWD.