The four cylinder has plenty of power for most people (especially those who buy Camrys) - try driving that first, and only go with the V6 if you really feel you need the extra power.
The four-cylinder should definitely have the edge in reliability and maintenance - there are fewer parts to break and replace, and unlike the V6, hasn't had problems with this generation. As far as safety goes, they're both equally safe. And, although the V6 will be quicker and smoother, it shouldn't be enough to justify the cost premium.
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