The Mark X ZiO was introduced in September 2007 as a station wagon with the low-roofed minivan-like styling, with a seating capacity of six or seven depending on the model. Its body height was 1,550 mm, which was 115 mm taller than the first-generation Mark X. Apart from the refined, high-quality styling, however, the Mark X and the ZiO had few design features in common, whether on the interior or exterior. Under the "4 + Free" concept, "four independent seats" were provided (only available with models with separate second-row seats) which accommodated four adults in comfort, with auxiliary third-row seats that could be stowed away. Because the cabin could take various configurations to accommodate two to seven people, it could simulate the interior of a sedan, a station wagon or a minivan -- hence the "three-mode cabin" nickname.

Unlike the rear-wheel-driven Mark X sedan, the drivetrain configuration of the ZiO was front-engine, front-wheel-drive (FF), and the two models shared few mechanical components. The ZiO came in FF and 4-wheel-drive (4WD) layouts (the 4WD version was available with 2.4-liter models only), either combining a 2.4-liter inline 4-cylinder engine (2AZ-FE) and a Super CVT-i transmission, or a 3.5-liter V6 engine (2GR-FE) with a 6 Super ECT transmission.