No way. On Camry? If that was THAT simple, we wouldn’t need Porsche 911, M3 etc.
To have a use of polyurethane bushings you need suspension and chassis that can sustain that. Otherwise your first bump will have you chasing car to control it. Toyota put on Sienna RFT and didn’t change suspension. I would rather take cross country trip in my BMW with suspension that has polyurethane bushings, Bilstein B6 shocks etc. than that Sienna.
You really need BIG investment to make it a contender. And then, engine sits far front, even battery is in front of axle.
It is really, really bad vehicle to do anything like that. It has its purpose. That is why these cars are far more expensive to modify than BMW, Miata, Subaru STi etc.