[3] The Alphard is primarily made for the Japanese market, but is also sold in many Asian countries,[4] Belarus,[4] Russia,[5] and the Middle East.

[11][7] Developed under the lead of chief engineer Hideyuki Iwata,[12] the first-generation model is based on the second-generation Previa/Estima, which in turn shares many components with the Camry.

[13] The first-generation Alphard was designed with curvaceous styling that created the illusion of a smaller vehicle, to attract younger customers in the 30–40 years old range.

Although Toyota initially considered offering a diesel engine option, concerns regarding emissions and fuel efficiency regulations led to its exclusion.

[15] Notably, the first-generation Alphard introduced rear side windows that could be rolled down and an optional electric-powered tailgate, distinguishing it from other vehicles in the segment at that time including the Elgrand.

The Alphard is also the first Japanese market minivan to feature a laser-guided Adaptive Cruise Control, although only as an option on V6 variants.

A hybrid version was also added to the lineup in MY 2003, featuring a 2.4-litre 2AZ-FXE Atkinson cycle petrol engine with a power output of 133 PS (98 kW; 131 hp) and 190 N⋅m (140 lb⋅ft) of torque which has been developed specifically for use in Toyota's Hybrid Synergy Drive technology and features a high-expansion ratio cycle that raises efficiency and reduces friction; however, this led to reliability problems of pistons' rings premature wear and consequent high oil consumption due to the poorly designed ring in order to minimize friction.

By-wire works with the E-Four AWD system to maximize the collection of kinetic energy from braking for conversion into electric power.

The petrol variants also received Eco mode buttons on the dash, helping to smooth out acceleration and to improve efficiency.

Toyota stated the vehicle was developed under the "luxury saloon with a large space" theme, to emphasize their focus on improving its ride comfort levels and styling.

[30] The platform of the third-generation Alphard was updated, featuring a newly developed double wishbone rear suspension to replace the previous torsion beam setup.

The floor of the new platform has been thoroughly flattened, and as a result, the second row seats is able to slide forward and backwards up to 1,160 mm (45.7 in).

The debut of the second generation Toyota Safety Sense system is launched with the facelifted Alphard and Vellfire, which became standard equipment across all variants.

[36] In the same month, the Vellfire in China was renamed to Toyota Crown Vellfire (simplified Chinese: 皇冠威尔法; traditional Chinese: 皇冠威爾法; pinyin: Huángguàn Wēiěrfǎ), with the inclusion of the Crown logo replacing the front Toyota logo, and in other places such as the hubcaps and instrument cluster.

[37] In June 2022, orders of the AH30 Alphard and Vellfire were suspended, and production ended, resulting in the minivans being unavailable for brand new purchase for a year.

As a result, when the AH40 Alphard and Vellfire launched in June 2023, demand for the new minivans was huge, forcing orders to be suspended in late 2023 when the wait time for delivery of the models extended to a year.

The Lexus-badged version of the third generation Alphard, called the Lexus LM, was unveiled on 16 April 2019 at the 18th Shanghai International Automobile Industry Exhibition and first released on 20 February 2020 in China.

The LM is slightly longer than the Alphard it is based on, measuring in at 5,040 mm (198.4 in) long, and fitted with a new suspension setup.

[45] With the other measures like the use of rubber bushings in the attachment portions of the cushion frames and memory foam in the seats, the minivan received a 30% reduction in vibrations.

According to Toyota's Chief Branding Officer Simon Humphries, who also oversees design work, the company wanted to end the Vellfire nameplate in light of its decreasing sales in Japan.

When the wait time for delivery of the models extended to August 2024, the decision was made to suspend orders until the backlog can be cleared.

[52] The plug-in hybrid variant of the Alphard and Vellfire were announced in Japan on 20 December 2024, and sales will commence on 31 January 2025.

The Vellfire followed later at the 31st Indonesia International Motor Show on 15 February 2024, available solely in 2.5 Executive Lounge HEV grade.

It is a 4-seater version of the production Vellfire, with a privacy curtain separating the driver and front passenger from the rear, a mini-fridge, floor trays, new carpeting, folding tables, power outlets and speakers integrated into the seats and headrests respectively, and a coat rack in the trunk.

[76] The Spacious Lounge Concept entered production virtually unchanged for 2025, with sales to commence January 31, where it is exclusive to the new Alphard PHEV.