My wife has a 2WD 2020 Highlander limited. I only drive it on road trips to see the family but it's fine. The lane centering isn't quite as good as Ford but it has automatic braking in forward and reverse (low speed) and adaptive cruise that works in stop-and-go traffic. I really should have got her a truck but she loads the Highlander with bagged mulch, fertilizer and rocks all the time. It's got decent room with the third row folded down. The JBL sound system is better than just about anything in a mid-rung Ford. Toyota keeps trying to buy it back from us...what's up with that?