I own a first gen Alphard V MS 3.0L 4WD (yes they do come in 4WD). Used it in Japan while I lived there and decided to bring it back because I couldnt find a similar people mover here. A lot of nice features like auto doors and flipdown screen for back passengers.
They certainly are great family cars that actually look decent for a mini-van. I modified mine a bit with coilover suspension, second gen 18inch rims, and exhaust system. Probably does 0-100 in just under 10secs, but never going to win any drag races.
Here is a picture of it when I was in Japan. Havent taken any since I got here yet.
The second gen Alphard and Vellfire look great and has some great kits out. The 3.5L engine is a beast and really moves the car. Pity they wont catch on in Oz but I certainly have had some good comments about it (as well a weird looks).