The 6-speed was used in the 2007 Lexus ES350 and 2007 V6 Camrys. Owners have reported aLOT of trouble with this transmission - enough to even cause Consumer Reports to "not recommend" the 6-speed equipped Camrys.
This Lexus forum
ES350 Forum - Club Lexus Forums even has a transmission problem poll going
I've rented a couple 2007 Avalons with the 5-speed automatic and they shifted flawlessly. The main potential benefit of the 6-speed is slightly brisker around town acceleration, but the Avalon V6 is already so powerful that most owners would not likely notice the difference.