What transmission does/did the 2.5 V6 have behind it? From the wording of your post I suspect it's an automatic.
You're pretty much stuck with that unless you source an ECU and harness from a donor vehicle with the 2.5 V6 AND the transmission of your choice, On the GV the transmission is controlled by the ECU and it will set multiple check engine codes when it does not see the signals from the transmission.
What engine does/did the two Vitaras that you mention have fitted?
You start by mentioning a Sidekick which suggests you're in the US, assuming that is correct and the two Vitaras are also US models, it's unlikely that they had the 2.5 V6, which would mean neither the transmissions, the ECUs nor the harnesses are compatible with the 2.5 V6.
On the flip side, if, by chance you do have parts from a Vitara with a 2.5V6 and a manual transmission, the electronics will be a piece of cake and your challenge will be shoehorning the larger engine & transmission into the space available - which has been done before.