In May 2023, Toyota released another vehicle with the same name in Indonesia, which is larger and based on the Daihatsu New Global Architecture, with the model code AC200.

Primarily marketed for the Japanese, European, Oceanian, and Singaporean markets, the XP210 series Yaris Cross is built on GA-B platform as the XP210 series Yaris hatchback and positioned between the Aygo X or Raize and C-HR in Toyota's crossover SUV lineup.

According to Toyota, the Yaris Cross resembles a diamond when viewed from above because of its wider midsection, which allowed the designers to broaden the wheel arches to achieve a more 'rugged' styling.

Under the WLTP test cycle, the i-AWD version of the new Yaris Cross emits 135 grams of CO2 per kilometer, and 120 g/km for the front-wheel drive variant.

[2] The company planned to produce 150,000 units of the Yaris Cross per year in its French factory.

[18][19][20] The Yaris Cross was launched in Australia in November 2020, with three trim levels available: GX, GXL, and Urban.

[21] In December 2022, the GR Sport trim for the Yaris Cross was introduced, powered only by a hybrid powertrain.

[24] Borneo Motors launched the Yaris Cross in Singapore on 14 January 2021, in two trim levels: Active and Excite.

[25] The Yaris Cross XP210 made its South American debut in Colombia in December 2021, in two trim levels: XS and XLS.

Updates consists of a new "Premiere Edition" trim, which includes a new Urban Khaki two-tone paint, redesigned 18-inch alloy wheels, and green accents on the upholstery, instrument panel and doors.

[28] Other changes include a choice of new electric motor which improves the power output to 130 hp (97 kW; 132 PS) and 185 N⋅m (18.9 kg⋅m; 136 lb⋅ft) of torque, new Toyota Smart Connect multimedia system with a choice of 12.3-inch instrument panel and 10.5-inch head unit, improved NVH levels, thicker glass on the windscreen and side windows, revised Toyota Safety Sense features, new upholstery patterns, a soft lower instrument panel covering, and a new Juniper Blue paint option.

[29] The Yaris Cross was tested for automotive safety by ANCAP and Euro NCAP in September 2021 and October 2021 respectively (their protocols are aligned).

It is the second Toyota hybrid model produced in Indonesia, following the Kijang Innova Zenix HEV.

[62] The petrol models are equipped with Daihatsu's Dual Mode CVT or D-CVT, while the Hybrid trim is paired with Toyota's eCVT transmission.

The Taiwanese market Yaris Cross was unveiled in August 2023 and it was officially launched on 28 September 2023.

[73] Perodua is developing a localised version of the Yaris Cross under the code number "D66B" or the name "Nexis", to be launched by late-2024.

It is offered in two trim levels: Base and Full, both are only powered by the 1.5-litre 2NR-VE petrol engine mated to a CVT.

[89] The AC200 series Yaris Cross was launched in Honduras on 17 November 2023, in a sole variant powered by a 1.5-litre 2NR-VEX hybrid powertrain.

[90] The AC200 series Yaris Cross was launched in Venezuela on 23 November 2023, in a sole variant powered by a 1.5-litre 2NR-VE engine.

[91] For the petrol model, the AC200 series Yaris Cross is powered by the 1.5-litre 2NR-VE engine rated at 78 kW (106 PS; 105 hp) and 138 N⋅m (14.1 kg⋅m; 102 lb⋅ft).

[96] According to TGRT, the car retained the hybrid system but it was modified to meet RC 2.1 class specifications.