As stated below No.
I was wondering if a newer model 4.0L V6 will bolt right into a 2002 Tundra with a 3.4L
No swap is an easy swap unless its the exact same model engine. If you do decide to swap expect to double the cost that you think it will cost. When i did my 5.7 swap it was double what i thought it was going to be. Also make sure that the engine you would swap in is in good working order. I found out about 4 weeks ago that my engine was not running on all 8 cylinders. I had a big chunk missing from one on the left bank and the other 3 were cracked. The engine sounded fine just low compression on 3 and 0 compression on that one cylinder. so now my engine is pulled out the truck and pulled apart waiting on the new parts to arrive. Anything is doable with Time, Money and elbow grease.