Toyota Estima I (XR10) gallery (1990–1999)
First generation Japanese Toyota Estima MPV (XR10 series) showcasing an under-floor mid-engine layout alongside narrow Emina and Lucida twins.
The first generation Japanese domestic market Toyota Estima (XR10/XR20 series) launched in May 1990. The vehicle revolutionized the MPV segment with its futuristic egg-shaped aerodynamic body and under-floor mid-engine SIDC layout, canting the engine at 75 degrees beneath the front seats. In 1992, to meet Japanese domestic vehicle size tax regulations (keeping width under 1,700 mm), Toyota introduced the narrower Estima Emina and Estima Lucida variants. The versatile cabin offered rotating captain's chairs and twin sunroofs.
Powertrains included a 2.4-liter 2TZ-FE four-cylinder (135 hp), a Roots-type supercharged 2.4-liter 2TZ-FZE (160 hp), and 2.2-liter 3C-T / 3C-TE turbodiesels delivering 100–105 horsepower. Transmissions were five-speed manuals or four-speed automatics. Drive options included rear-wheel drive and Full-Time 4WD. Mid-cycle facelifts in 1994 and 1996 refreshed front bumper air intakes, clear lighting lenses, and interior trim options.
