The Toyota Previa, also known as the in Japan, and Toyota Tarago in Australia, is a minivan that was produced by Toyota from 1990 until October 2019 across three generations. The name "Previa" is derived from the Spanish and Italian for "preview", as Toyota saw the first Previa as a vehicle that would preview technologies used in future minivans. The Previa was the second largest minivan in Toyota's lineup in Japan after the bigger and more luxurious Alphard/Vellfire. First generation (XR10/XR20; 1990) The first generation, designed by Toyota designer Tokuo Fukuichi and Calty designer David Doyle in 1987 (patent filed 24 December 1987), was introduced on 27 January 1990, and had only one sliding side door for the rear passengers. It featured a mid-engined platform, where the inline-four cylinder gasoline-powered engine was installed almost flat (at a 75-degree angle), beneath the front seats. Installing the engine in this configuration allowed moderately easy access to the spark plugs, which were located underneath a panel on the upper left-side of the vehicle, after removing the front passenger seat, the carpet and an access panel. All engine-driven accessories, such as the alternator, power steering pump, air conditioning compressor and radiator fan, are accessible from the front hood, driven off the front of the engine by an accessory driveshaft, and is known as the Supplemental Accessory Drive System, or "SADS". This allows even front/rear weight distribution, which benefits ride quality and handling. However, it also prevents the installation of a larger engine, while the cost could not be relayed by sharing the platform with other vehicles. The first generation Previa was long and wide. In Japan, two smaller versions, the Toyota Estima Lucida and Toyota Estima Emina, were produced from January 1992, which were approximately narrower and shorter than the standard model, which continued to be sold in Japan, but as the "wide-body" Estima. The reason for the difference between the smaller Emina and Lucida models is the vehicle tax system in Japan, which is based on the product of length and width of the car, and the smaller variants fall into a lower tax band. The Estima Emina and Estima Lucida were also available with a 2.2-liter diesel engine (3C-T and 3C-TE). In Japan, the Estima and Estima Emina were exclusive to the dealerships called Toyota Store. The Estima Lucida sold at Toyota Corolla Store dealerships. The two received small redesigns in 1994