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The big difference is that BMW was first to develop a mainstream modern turbo gas direct injected mainstream motor with the N54.. they had a ton of issues but there was a ton of learnings that were later factored into the N55 and now the perfect B58... so yes BMW has nearly perfected this motor at this time.
Toyota had a headstart in the 90s along with Nissan but those were very old school motors that were never developed into anything modern and as a result they are now way behind because they stuck to simple is reliable... today's world expects different.
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N54->N55->S55->B58->S58
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