While the decision made financial sense, it posed a problem for Toyota's WRC team, which felt only a three-door hatch was suitable for competition.

Both Toyoda and Mäkinen spent time test driving these development mules and pre-production cars in the snow, on gravel and on the street.

[7][8] One of the major changes came when the team decided they wanted the three-door hatchback to have four-wheel drive, a wider rear track and a double wishbone suspension layout to handle significantly increased torque.

[9] To save weight, the GR Yaris also uses aluminium for the front bonnet (hood), boot (trunk) lid and door panels.

[1] Ultimately, chief engineer Naohiko Saito said he was able to accommodate 90 percent of design requests made by Mäkinen and the WRC team.

[3] The production car is powered by a Gazoo Racing-built, turbocharged and direct/port-injected 1.6-litre G16E-GTS three-cylinder engine that produces 192–200 kW (257–268 hp; 261–272 PS) and 360–370 N⋅m (266–273 lb⋅ft) of torque, varying due to emissions regulations in certain markets.

The GR Yaris was unveiled at the 2020 Tokyo Auto Salon,[10][11] and is sold in Japan, Europe, Australia, New Zealand, South Africa,[12] Thailand, Malaysia,[13] Indonesia,[14] Singapore, the Philippines,[15] Mexico,[16] Argentina and Taiwan.

As it lacks the four-wheel drive system, the "GR-Four" emblem is eliminated, but otherwise the exterior bodywork of the RS is identical to the standard RZ trim level.

[20] On 12 January 2024 at the Tokyo Auto Salon, the car received a facelift and for the first time Toyota included an 8-speed automatic option and also Formula One-style paddle-shifters for semi-automatic mode.

[21] The 1.6-litre G16E-GTS three-cylinder is upgraded to produce 224 kW (300 hp; 305 PS) and 400 N⋅m (295 lb⋅ft) of torque for the Japanese market model, on par with the GR Corolla.

[22] The GR Yaris facelift is set to commence production for the Australian market in late 2024 with showroom deliveries arriving in early 2025.