The first generation Previa was sold outside the United States until 8 January 2000, when a newer front-wheel drive second generation replaced it. The second generation was not available in North America, as they received the Toyota Sienna. The second generation Previa had a slightly longer wheelbase (2900 mm) and was both narrower (1790 mm) and lower (1770 mm) than the first one; it switched to FF layout and was based on the Camry platform. It was produced with sliding rear passenger doors on both sides and offered space for up to six, seven or eight passengers and, as with the first generation, was sold as the Estima in Japan and as the Tarago in Australia. The range available in Australia was the GLi, GLX and Ultima. Models sold on the European markets were available with both gasoline and diesel-powered four-cylinder engines. The diesel engine was a 2.0-liter 1CD-FTV with and the gasoline-powered one a 2.4-liter 2AZ-FE with . Both models featured a five-speed manual transmission as the part of standard equipment, while a four-speed automatic was available as an option on gasoline-powered model. Australian models (known locally as ACR30R) were only available with the 2.4-liter petrol engine and a four-speed automatic. In Japan, a 3.0-liter V6 engine and a 2.4-liter hybrid version of the Estima were available. Estima Hybrid The Estima Hybrid employed the Toyota Hybrid Synergy Drive and used two electric motors. A 2.4-liter gasoline engine and a electric motor power the front wheels, while the rear wheels are propelled by a electric motor. The vehicle had been on sale in Japan since June 2001. Production of the hybrid started in May 2001 at the Motomachi plant and June 2002 at the Fujimatsu plant. It is claimed by Toyota to be the world's first hybrid minivan. Third generation (XR50; 2006) The third-generation model was introduced in 2006 in Japanese and Australian markets as the Estima and Tarago respectively, and as the Previa in other markets. This generation was notably absent from the European market. Features include an available second generation Hybrid Synergy Drive drivetrain (only in the Japanese market), automatic parallel and reverse parking (only on Toyota Estima), Lane-Keep Assist (LKA) system which detects the lane markers on the road and steers the car on the right direction (for Estima only), Adaptive Front-Lighting System low beam headlamps which assists to light up the upcoming road around a bend,