The second-generation Estima was introduced on 8 January 2000, switching to a front-wheel-drive layout based on the Camry platform, and was not sold in North America, which received the Sienna instead. It runs a 2900 mm wheelbase and is narrower at 1790 mm and lower at 1770 mm than the first generation, with sliding rear doors on both sides, and it gained a facelift in July 2003 with slimmer headlamps. Australian Tarago models came only with the 2.4-litre petrol and four-speed automatic, while Japan offered a hybrid from June 2001 that Toyota claimed as the world’s first hybrid minivan.

Information provided by: https://en.wikipedia.org/wiki/Toyota_Previa#Second_generation