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Here are some details regarding on the Estima model range, and when those respective models were released and revised in Japan. This information has very kindly been translated and provided by JJ aka Mad Mechanic.

ESTIMA

TYPE MODEL& SPEC RELEASE DATE
MCR40W    
3000 4WD G JAN/2000
  AERAS JAN/2000
  X JAN/2000
MCR30W    
3000 2WD G JAN/2000
  AERAS JAN/2000
  X JAN/2000
TCR21W    
2400 4WD SUPER CHARGER G AUG/96
  SUPER CHARGER AUG/94
2400 4WD 2400 4WD MAY/90
TCR11W    
2400 Super charged SUPER CHARGER G AUG/96
  SUPER CHARGER AUG/94
2400 2400 MAY/90
TCR20W    
2400 4WD Super charged AERAS JAN/98
  V Limited APR/98
  V AUG/96
  V Extra Edition APR/99
2400 4WD X AUG/96 (revised)
  X FEB/93
TCR10W    
2400 Super charged AERAS JAN/98
  V Limited APR/98
  V AUG/96
  V Extra Edition APR/99
2400 X AUG/96 (revised)
  X FEB/93

ESTIMA LUCIDA & EMINA

TYPE MODEL& SPEC RELEASE DATE
TCR21G    
2400 4WD G Luxury Joyful Canopy AUG/96 (revised)
  G Luxury Twin Moonroof AUG/96 (revised)
  G Joyful Canopy JAN/98 (revised)
  G Twin Moonroof AUG/96 (revised)
  G AUG/96 (revised)
  G Luxury Joyful Canopy AUG/93
  G Luxury Twin Moonroof JAN/92
  G Luxury JAN/92
  G Joyful Canopy AUG/93
  G Twin Moonroof JAN/92
  G JAN/92
  S Twin Moonroof JAN/92
  S JAN/92
TCR20G    
2400 4WD ELUCEO Joyful Canopy JAN/98
  ELUCEO Twin Moonroof JAN/98
  X Luxury Joyful Canopy AUG/96 (revised)
  X Luxury Twin Moonroof AUG/96 (revised)
  AERAS Twin Moonroof AUG/96
  X Limited Twin Moonroof OCT/96 (revised)
  X Limited OCT/96 (revised)
  X Twin Moonroof AUG/96 (revised)
  X AUG/96 (revised)
  X Luxury Joyful Canopy JAN/95
  X Luxury Twin Moonroof JAN/95
  X Limited Joyful Canopy AUG/95 (revised)
  X Limited Twin Moonroof AUG/95 (revised)
  X Limited AUG/95 (revised)
  X Limited Joyful Canopy DEC/93
  X Limited Twin Moonroof DEC/93
  X Joyful Canopy AUG/93
  X Twin Moonroof JAN/92
  X Limited AUG/94
  X JAN/92
TCR11G    
2400 G Luxury Joyful Canopy AUG/96 (revised)
  G Luxury Twin Moonroof AUG/96 (revised)
  G Joyful Canopy JAN/98 (revised)
  G Twin Moonroof AUG/96 (revised)
  G AUG/96 (revised)
  G Luxury Joyful Canopy AUG/93
  G Luxury Twin Moonroof JAN/92
  G Luxury JAN/92
  G Joyful Canopy AUG/93
  G Twin Moonroof JAN/92
  G JAN/92
  S Twin Moonroof JAN/92
  S JAN/92
TCR10G    
2400 ELUCEO Joyful Canopy JAN/98
  ELUCEO Twin Moonroof JAN/98
  X Luxury Joyful Canopy AUG/96 (revised)
  X Luxury Twin Moonroof AUG/96 (revised)
  AERAS Twin Moonroof AUG/96
  X Limited Twin Moonroof OCT/96 (revised)
  X Limited OCT/96 (revised)
  X Twin Moonroof AUG/96 (revised)
  X AUG/96 (revised)
  X Luxury Joyful Canopy JAN/95
  X Luxury Twin Moonroof JAN/95
  X Limited Joyful Canopy AUG/95 (revised)
  X Limited Twin Moonroof AUG/95 (revised)
  X Limited AUG/95 (revised)
  X Limited Joyful Canopy DEC/93
  X Limited Twin Moonroof DEC/93
  X Joyful Canopy AUG/93
  X Twin Moonroof JAN/92
  X Limited AUG/94
  X JAN/92
  F JAN/92
CXR21G    
2200 Diesel Turbo 4WD G Luxury Joyful Canopy AUG/96 (revised)
  G Luxury Twin Moonroof AUG/96 (revised)
  G Joyful Canopy JAN/98 (revised)
  G Twin Moonroof AUG/96 (revised)
  G AUG/96 (revised)
  G Luxury Joyful Canopy AUG/93
  G Luxury Twin Moonroof JAN/92
  G Luxury JAN/92
  G Joyful Canopy AUG/93
  G Twin Moonroof JAN/92
  G JAN/92
CXR20G    
2200 Diesel Turbo 4WD ELUCEO Joyful Canopy JAN/98
  ELUCEO Twin Moonroof JAN/98
  X Luxury Joyful Canopy AUG/96 (revised)
  X Luxury Twin Moonroof AUG/96 (revised)
  AERAS Twin Moonroof AUG/96
  X Limited Twin Moonroof OCT/96 (revised)
  X Limited OCT/96 (revised)
  X Twin Moonroof AUG/96 (revised)
  X AUG/96 (revised)
  X Luxury Joyful Canopy JAN/95
  X Luxury Twin Moonroof JAN/95
  X Limited Joyful Canopy AUG/95 (revised)
  X Limited Twin Moonroof AUG/95 (revised)
  X Limited AUG/95 (revised)
  X Limited Joyful Canopy DEC/93
  X Limited Twin Moonroof DEC/93
  X Joyful Canopy AUG/93
  X Twin Moonroof JAN/92
  X Limited AUG/94
  X JAN/92
  F JAN/92
  D JAN/92
CXR11G    
2200 Diesel Turbo G Luxury Joyful Canopy AUG/96 (revised)
  G Luxury Twin Moonroof AUG/96 (revised)
  G Joyful Canopy JAN/98 (revised)
  G Twin Moonroof AUG/96 (revised)
  G AUG/96 (revised)
  G Luxury Joyful Canopy AUG/93
  G Luxury Twin Moonroof JAN/92
  G Luxury JAN/92
  G Joyful Canopy AUG/93
  G Twin Moonroof JAN/92
  G JAN/92
CXR10G    
2200 Diesel Turbo ELUCEO Joyful Canopy JAN/98
  ELUCEO Twin Moonroof JAN/98
  X Luxury Joyful Canopy AUG/96 (revised)
  X Luxury Twin Moonroof AUG/96 (revised)
  AERAS Twin Moonroof AUG/96
  X Limited Twin Moonroof OCT/96 (revised)
  X Limited OCT/96 (revised)
  X Twin Moonroof AUG/96 (revised)
  X AUG/96 (revised)
  X Luxury Joyful Canopy JAN/95
  X Luxury Twin Moonroof JAN/95
  X Limited Joyful Canopy AUG/95 (revised)
  X Limited Twin Moonroof AUG/95 (revised)
  X Limited AUG/95 (revised)
  X Limited Joyful Canopy DEC/93
  X Limited Twin Moonroof DEC/93
  X Joyful Canopy AUG/93
  X Twin Moonroof JAN/92
  X Limited AUG/94
  X JAN/92
  F JAN/92
  D JAN/92