With Estima's body width narrowed by 110 mm, the Estima Emina was introduce in January 1992 as a smaller version of Estima made to fit the "5 number" size requirements. The Emina and its twin model Lucida, which were differentiated by their front exterior designs, were marketed through different sales channels. Except for the narrower body width and the slightly shorter length, the twin models shared most of Estima's mechanisms, including the 2.4-liter 135 PS 4-cylinder DOHC engine. When an optional 2.2-liter intercooled turbo diesel engine with 100 PS (3C-T) was installed, the vehicle satisfied all requirements for "5 number" vehicle registration. Unlike the Estima, which only came with a 4-speed automatic transmission, the Emina and Lucida also offered a 5-speed manual transmission as an option. The available drivetrain layouts included mid-engine, rear-wheel-drive and viscous-coupled full-time 4-wheel-drive. The 3-row seating could accommodate either seven or eight people.

The three brands were consolidated when the second-generation Estima was introduced in January 2000, ending the Emina and Lucida lines after the first generation.