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Toyota canceled their highline Cressida model in the early 1990s since the Lexus brand had taken off. A few years later, it was decided that they needed a model to bridge the gap between the Camry and the Lexus ES. The new Avalon was the replacement offering more space and luxury over the Camry. The Camry and Lexus ES used to ride on the same platform but now the Lexus ES shares the platform of the Toyota Avalon parts.