While the body is solid on the 2004 Highlander, the trim is shoddy. Wipers have scored both front and back windows; seat belt retractors leave belts dangling to get caught in doors; visors are floppy; broken filter rack fell out from under the dash. Yaw sensor went out as soon as the warranty did. Acceleration from a stop is sluggish; mileage is only average. Because it is built on a Tacoma platform, it handles like a truck.
Brakes take hold immediately, reminding me of old style power assist brakes. Vehicle handles well with all season tires on snow and ice. There is plenty of room fro two dogs and their equipment.
Make the vehicle handle like a car rather than a truck. Improve details so they don't irritate one to death every time they need fixing. Improve acceleration on automatic so it responds immediately instead of with delay in emergency situations.