The Toyota Gaia is a Japanese market MPV that competed with the Nissan Prairie, Mitsubishi Chariot and the Honda Odyssey.

The Gaia was sold only at Japanese dealerships called Toyopet Store next to the Corona.

April 2001 saw DVD based navigation, a precursor to Toyota's G-Book navigation system added as an option, and the 3S-FE engine was upgraded to the 1AZ-FSE with AWD.

The 1AZ-FSE features Toyota's D-4 direct injection system.

The vehicle was named for Gaia; the primal Greek goddess personifying the Earth.