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Any car designer can make a car handle well - that's how they make race cars - and these cars are usually not drive-able on the road. Rock hard suspension, aerodynamic devices that will scrape the ground any time, totally uncomfortable.
A car maker has the very difficult task of making a car handle as well as possible, yet be comfortable at the same time. Generally, it has been the norm to accept that driving agility will always be at the expense of occupant comfort - that is, until the arrival of the Toyota New Global Architecture (TNGA).
Through extensive testing and development, Toyota have developed a platform that combines the bet of both worlds, i.e., allowing for excellent handling and agility yet retaining a high level of occupant comfort.
Watch the video and see how this is achieved - and yes, whilst they were working on this platform, they also took care of several other factors, such as aesthetics, robustness and visibility as well.