The first of the Lexus ES generations, codenamed V20, debuted alongside the V8 Lexus LS 400 for MY1990 with a V6 engine to slot in below the flagship and take on the Acura Legend. It was based on the equivalent Toyota Camry, as were the successive generations of the ES. The first ES had a shelf life of only two model years, and the second-gen redesign of the Lexus ES was introduced for the 1991 model year and on the market for five years. It was replaced by the XV20 for MY1997 and then the fourth-gen XV30 for MY2002.
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