It featured a mid-engined platform, where the inline-four cylinder gasoline-powered engine was installed almost flat beneath the front seats, canted at a 75-degree angle from vertical to the right, viewed from the rear of the vehicle.

[8] It was available in both rear- and all-wheel drive versions (branded All-Trac) and powered by a 135 PS (99 kW) JIS inline four-cylinder 2.4-liter fuel-injected mid-mounted engine.

All first-generation Previa / Estima vans were assembled at the Toyota Auto Body Fujimatsu plant in Kariya, Aichi.

[5] Placing these items in front allowed the designers to achieve a nearly-equal front/rear weight distribution,[16] which benefits ride quality and handling.

[17] However, it also prevented the installation of a larger engine, and meant that the design and development costs could not be mitigated by sharing the platform with other vehicles.

The supercharger is sourced from Aisin and engaged on-demand by an electromagnetic clutch, based on input from the engine control unit.

[16] The supercharged engine has improved power and gives slightly better fuel consumption, estimated at 19 mpg‑US (12 L/100 km) on the combined city/highway cycle.

[17] The eight-seat configuration contains a 2/1 split swiveling bench seat in the middle row, while the seven-seat configurations contain either two independently swiveling captain's chairs (referred to as "Quad Seating"), in the middle row[21]: 16–17  or a two-seat bench offset towards the driver's side.

The center console is pushed backwards towards the front seat passengers, with contemporary press coverage calling it "pregnant".

Previa was the first minivan to meet all US safety standards for passenger cars for the 1992 model year, which included fitment of a driver's-side airbag, under-dash knee bolsters, and a center high-mounted stop light.

[23] When the Insurance Institute for Highway Safety tested the 1996 model in the offset frontal crash test, it revealed many safety problems: the cabin structure was unstable, the steering wheel moved upward all the way to the windshield, the lap belt tore which allowed the dummy to end up in a partially reclining position, and there were high forces on both of the lower legs, in which the IIHS evaluated it "Poor".

[28]: 1 While the Previa proved more popular than the Toyota Van which it replaced, it did not acquire significant market share from Chrysler—due to its higher price, controversial styling (for its time), lower fuel economy and engine performance—and also due to Chrysler launching redesigned minivans around the same time.

It was given a "Poor" rating due to violent head movement as the steering wheel was driven up towards the roof and the dummy slid down into a reclining position, causing leg injuries.

In Australia, the van was marketed as the Tarago, offered in GL/GLi, GLS and GLX forms with 7–8 passenger seating from launch in September 1990.

These include the RV (either 5-speed manual or 4-speed automatic with 4WD), commemorative Rugby World Cup editions and Getaway.

Features include an available second generation Hybrid Synergy Drive drivetrain (only in the Japanese market), automatic parallel and reverse parking (only on Toyota Estima), Lane-Keep Assist (LKA) system which detects the lane markers on the road and steers the car on the right direction (for Estima only), Adaptive Front-Lighting System low beam headlamps which assists to light up the upcoming road around a bend, track-mounted second row reclining seats with footrests, and power-folding split third row seats (for seven-seater models).

In some markets such as Hong Kong and Taiwan, Toyota announced the 3.5-liter V6 model in January 2007, but was dropped from the lineup after its major facelift in 2016.

[45] It came with power sliding doors, automatic climate control, faux wood trim, 2DIN 6 CD audio system, speakers, remote keyless entry, and leather seats among other features.

The hybridized Estima bears the model code AHR20 and is specifically marketed and sold exclusively in China and Japan, with limited importation to Australia.

[48] The Tarago was released in March 2006 bearing the ACR50R[49] model code featuring the 2.4-liter 2AZ-FE inline-four engine found in the ACV40R Camry.

It also received the major facelift in 2016, with updated interior and other new standard features offered, however it still bears its exterior looks mostly unchanged as with the pre-facelift design.

It is available as a family van, a taxicab for regular passengers and a specially designed wheelchair accessible taxi featuring a ramp and longer wheelbase.

Toyota Australia confirmed the Granvia will replace the Tarago by the end of 2019, however, they were sold alongside each other for a short period of time.

The facelifted model was launched in mid-2016, its dimensions remain mostly unchanged while it receives various new additional equipment to keep up with its competitors.

[52] In the interior features a redesigned multifunction steering wheel and a piano black center console that neatly houses a large touchscreen infotainment display.