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Hello I will help you with your question,
While this is not considered an interference engine due to the cutouts in the tops of the pistons that give clearance to the valves in extreme situations there could be valve to piston contact so you have to keep that in mind when diagnosing the failure.
There may be simpler explanation for the noise you heard, the harmonic balancer is under recall for separation of the hub and outer ring that drives the belts so that may have come apart. If it did Toyota will repair this at no cost to you.
There is a very slim chance that you have had valve to piston contact but it is not likely that there was.
Please let me know how I can help you with this