Highlander is slightly larger inside, as measured by total EPA interior volume, than the RX 330, although the Lexus has slightly more cargo volume.

Highlander's front bumper, light clusters and grille were revised for 2004 and remain essentially the same to this day. The bumper cover has sharp lines molded into it, so its shape is better defined than before. The grille's horizontal bars are bold and well defined, while the various elements of the light clusters seem to blend together more smoothly. Toyota design philosophy tends toward conservative appearance changes, and the Highlander lacks a cutting-edge design such as that of the Nissan Murano. Highlander's front and rear overhangs are relatively large, tending more toward a station wagon look.

Entry, both for cargo and for people, is easier in the Highlander than in truck-based SUVs. With its more car-like step-in and lift-into, the Highlander is even friendly to wearers of tight skirts. Not so the usual truck-based SUV. There are walk-in steps and a second-row sliding seat to help access the third row of seats.

While the Toyota 4Runner is basically a truck, the Highlander is essentially a car. Like a car, the Highlander uses unibody construction rather than having a separate frame. And, like a car, the Highlander features a four-wheel independent suspension, rather than a solid rear axle. Two-wheel-drive versions are front-wheel drive, not rear-wheel drive. The 4Runner is the opposite of each of those. The best choice? It comes down to your game: For towing and driving off road, the 4Runner is better. For commuting and transporting the family, the Highlander is the better, more comfortable choice. Properly equipped, Highlander can tow up to 3,500 pounds, not all that much by truck standards.