It is a compact MPV with standard three-row seating, and was positioned between the Corolla Spacio and the Ipsum in Toyota's minivan lineup.

The Wish was developed under code name "760N" by the team, led by chief engineer named Takeshi Yoshida and was introduced to the public for the first time at Tokyo Motor Show in October 2002 (Commercial vehicles & welcab show) and then launched in Japan in January 2003, under a massive publicity campaign with Japanese singer Hikaru Utada.

The WISH was extremely successful in its home market, and is frequently seen on the Top 5 on the 30 bestseller list each month.

The Wish in Thailand is available with 3 trim levels including 2.0 S, 2.0 Q and 2.0 Q Limited (with sunroof) and is very similar to the Japanese version, except for a few differences: The Wish was launched in Taiwan as a left-hand drive vehicle in November 2004.

The Taiwanese version shares the same engine as the Thailand model, which means missing out on Toyota's D-4 technology.

Another aspect unique to the Taiwanese Wish is that it can be specified with a beige interior color scheme unlike its Japanese and Thai-built counterparts.

As the changes were minor the fuel consumption figures, which are the best in the compact MPV class, remain the same.

Sold as the Wish Aero Tourer to distinguish itself from the parallel import Wish; additional, accessories such as a 5-piece bodykit inclusive of a high mounted rear LED brake light, touchscreen DVD head unit, reverse camera, side mirror indicators, illuminated scuff plates, window visors, chrome muffler tip are featured as standard equipment.

The exterior dimensions remain similar to the previous generation, except for the length which has increased slightly.

In Japan, the role of the Wish as a three-row compact MPV is effectively replaced by the Sienta, the Prius α and the tall-bodied Noah/Voxy/Esquire triplets.