In my opinion, if you have the cash, go for Alphard SC 2020 above (main reason the radio), less cash, 2018-2019, even less 2015 - 2017. All 2015 to 2022 rides the same. if you want to go for the 20 series, then go for the Vellfire. You can't really feel the 100cc difference (2.5 Vs 2.4), but psychologically you will have that nagging feeling (for me anyway). But which ever one you choose, remember this car is a people mover, not a sports car. don't expect the same performance as your sedan car. Once you accept that, this car is an excellent car to drive, my only regret is that i will never be able to sit in the pilot seat as I am always the driver.