tl;dr engines today are not the same as an early 2000s Subaru EJ25 with a massive turbo bolted on.

> they overstrain them

Debatable. Materials science and engine construction science have advanced significantly since the V6 and V8s of the 1980s and 1990s Toyotas. Almost every auto manufacturer on earth is capable of getting >100hp/L out of a gas engine reliably. Toyota is certainly not the only OEM doing this reliably at scale. This stuff is no longer exotic. Gas engines today are designed from the ground up to be turbocharged and direct injected (and in Toyota's case, both direct and port injected), and built with the cooling systems to match.

> The outcome is a strictly worse engine

No one makes or has made a perfect engine but there's a lot of romanticizing engines from the past. These newer engines make more peak torque, their torque curves start much lower in the RPM band and remain more useful through whole rev range, they burn significantly less fuel when not under load, and the hybrid electric drivetrain mean the gas engine spends less of its life idling or lugging at low speeds and high loads. Whether some of these tradeoffs are worth it is debatable, but in no way are these engines "strictly worse".

> No one makes or has made a perfect engine

1.9 TDI