[3] Toyota released the first generation LiteAce M10 truck in November 1970 as a larger, upscale model line to sit above the MiniAce that had been introduced in 1967.

In effect, LiteAce filled the gap between the smaller MiniAce and larger HiAce whilst keeping within Japanese vehicle size regulations concerning exterior dimensions and engine displacement.

The van/wagon featured a top-hinged back door, and ornate resin panels were placed above the tail lamps in accordance to the similar design upfront.

This model (truck only) was also marketed in a slightly different badge engineered form as the Daihatsu Delta 750 (D10 series) from March 1971.

Further to these revisions, a flagship FXV grade joined the range and new second row seats with a swivel function to face either the forward or backwards position became optional in the wagon.

Minor changes to the M20 series LiteAce arrived for November 1982, including a front-end facelift and the adoption of power steering.

More substantially updated LiteAce and TownAce trucks were released in June 1999, with the front section of the body and dashboard thoroughly redesigned—however, the design of the doors and all parts rearward carried over verbatim.

The first TownAce (R10 series) made its sales debut in October 1976 as a widened and lengthened version of the LiteAce (M10), still using the same doors and some other panels.

Further changes in October 1978 included suspension revisions, the release of the flagship "Custom Extra" grade with manual sunroof.

Truck body styles were added to the lineup in October 1978 (having entered production the previous month), including low-deck, high-deck, and "just low" models—these further lowered the bed floor by employing radial tires which had smaller diameters despite the identical 13-inch wheel size.

Each of the three models offered standard- and long-wheelbase versions, the latter with as much space as the larger HiAce truck (albeit with a lower payload) and carrying the RR20[11]/RR21 chassis codes—confusing, since the R20-series was generally reserved for the second generation TownAce.

At the same time, the "just low" model adopted 10-inch double tires for the rear wheels, lowering the bed floor to the same level as that of light trucks.

December 1980 introduced a small facelift with rectangular headlamps, plastic bumpers, and other adjusted trimmings—along with further suspension refinements, an optional cool box, and a new electrically-retractible moonroof (the manual version continued in some grades).

Furthering this, a campervan package titled "Canyon" came to the market in February 1982, featuring a moonroof, loft beds, powered curtains, and bronze-tinted glass.

Stylistically, the R20/R30 featured a sharply sloped front, in contrast to the upright flat found in the larger Toyota HiAce.

Three roof heights were available (low, medium, high) and for the latter two, a dual moonroof was optional (the front tilted and rear opened fully).

Exterior design differences of the MasterAce Surf when compared to the TownAce included larger US-style bumpers and rectangular quad headlamps.

In the Japanese market, a wide range of accessories were available, including a refrigerator with ice maker, a seven-speaker audio system, and a color television.

[15] A second, more extensive facelift and full interior update arrived in August 1988 for Japan only which was shared with the MasterAce (although both continued to uphold slight cosmetic differences).

North American market sales started in 1983 for the 1984 model year as the "Toyota Van" with styling shared with the MasterAce Surf.

A unique bronze colored plaque was affixed to the B-pillar behind the driver and passenger doors that said "Spirit of 86" inside a globe.

[25] Like European models, Tarago frontal styling mirrored the TownAce rather than MasterAce Surf—therefore single-unit headlamps and slimmer bumpers were on offer.

At launch, three levels of trim were on offer—base DX, GL and luxury GLS—all fitted with the 1.8-liter 2Y-C gasoline engine rated at 57 kW (76 hp) and 140 N⋅m (100 lb⋅ft) (designated YR20).

[18] Gasoline models received an engine upgrade in March 1984 to the 2.0-liter 3Y-C rated at 65 kW (87 hp) and 162 N⋅m (119 lb⋅ft) (designated YR21), with the DX and GL now gaining the option of a three-speed automatic.

[18] With an October 1985 facelift,[25] the MasterAce Surf styling updates were specified—thus twin headlamps and bulky bumpers now featured alongside trim and equipment upgrades.

[20] At the same time, the YR21 GL became the GX, and a series of 2.2-liter 4Y-E gasoline models with 75 kW (101 hp) and 180 N⋅m (130 lb⋅ft) appeared in the new manual-only GLi and updated automatic GLS (YR22).

Rear styling also differed between the commercial vans and passenger wagons, although both models used the same rear-end regardless if badged LiteAce or TownAce.

[29] As with the original B20 series, Daihatsu Delta Wide van/wagon versions continued to use TownAce body work (and front-end styling).

In December 1998, the Noah passenger models were facelifted with reshaped headlamps, new grilles and front bumpers, plus clear turn signal lamps for the tail-lamps and revised wheel trims.

The TownAce received a facelift in June 2020 with a newer 1,496 cc 2NR-VE engine along with the discontinuation of the "LiteAce" nameplate due to integration of Japanese Toyota dealers.