Developed as a high-performance 4-door sedan, the Aristo was introduced in October 1991 as the top-end model for the Toyota Auto and Toyota Vista sales channels. It shared the basic components with the Crown Majesta which debuted at the same time. The greatest appeal of the Aristo was its aggressive styling by Italdesign under Giorgetto Giugiaro. The prototype design by the Italian design firm was further enhanced and refined by Toyota.

Another advantage of this high-performance sedan was its superior on-road performance. The inline 6-cylinder DOHC 24-valve 3-liter engine offered a choice of two versions: naturally aspirated or twin turbocharged. The latter was especially popular among customers who appreciated the outstanding acceleration in a high-end sedan. The 4-wheel double wishbone suspension system offered several varieties by model grade, including the Piezo TEMS, TRC, and torque-sensing limited slip differential (LSD) systems. A 4-wheel-drive model with a V8 engine was added to the lineup in October 1992. In the North American market, the Aristo was marketed in 1993 as the Lexus GS, the brand's second most prestigious model after the LS.