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The engine number for the Toyota Highlander is on the rear of the engine. There is a small plate screwed into the engine block just below the oil filler cap. This is probably not going to be accessible unless the hood is removed from the vehicle first.
The part number for a 2003 Toyota Highlander exhaust manifold is 7929-05171259. The part number can be used to find remanufactured replacement parts.
Look up ! It's on the inner hood.
To find out the condition of a 2005 Toyota Highlander with a VIN number of 21A250071532 you can ask the dealer, or there are multiple websites that you can enter the VIN number and get a total accident report.
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I found mine on an older Toyota diesel 4 cylinder at the top of the block right before it mates with the head. It's right under the exhaust manifold. Not sure how easy it is to see with it on though.
Here's a PDF file that should answer your question in detail. http://www.etimago.com/yaris/TSB/T-SB-0301-08%20(Engine%20Serial%20Number%20Location).pdf
engine number location ml500 2007