The name "ZiO" (pronounced "geo") is an acronym to suggest its spaciousness and cargo capacity, meaning "Zones in One".

The six-seat models have two rows of independent seats and a console box with arm rest.

"Active wagon mode" creates a large cargo space in the rear by stowing the tonneau board and covers.

The "friendly minivan mode" includes a third row of seating that can be dropped down to create cargo space.

The Mark X ZiO had two powertrain options: a 120 kW (161 hp; 163 PS) 2.4-liter 2AZ-FE four-cylinder engine mated to a K112 continuously variable transmission (CVT), and a 206 kW (276 hp; 280 PS) 3.5-liter 2GR-FE V6 engine mated to a 6-speed U660E automatic transmission.