The Toyota Highlander debuted in 2001 as the fifth model in Toyota’s SUV lineup. The Highlander was an early example of a crossover vehicle: an SUV based on a car rather than a truck platform.

The Toyota RAV4 was one of the earliest car-based crossover SUVs on the market. Now in its fifth generation, it’s one of the best-selling vehicles in the U.S. The current RAV4 has compact ...