Legacy vs Mirai
Two brands, one target. The Legacy from Subaru and the Mirai from Toyota compete head to head for midsize sedan shoppers. There is a favorite. The Legacy beats the Mirai in 2 of 3 areas, and space & practicality is its biggest advantage.
At a glance
- Engine & Performance Mirai wins
- Space & Practicality Legacy wins
- Off-road & Towing Legacy wins
- Engine & Performance1.6
- Engine & Performance5.6
Spec scores (0 to 10) are calculated from manufacturer specs against other models in the same class. See how the formula works. They are not reviews or user ratings.
Key Differences
-
The Legacy has 57% more cargo space
For cargo (behind rear seats), the Legacy leads by a wide margin: 15.1 cu ft versus 9.6 cu ft. Cargo figures are measured in different ways by different makers, so small gaps may not show in practice.
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The Mirai has 45 lb-ft more torque
This is a headline difference. With 221 lb-ft to the Legacy’s 176 lb-ft, the Mirai has a lead that’s easy to see on paper and in practice. More torque means stronger pulling from low speeds, which you feel when accelerating from a stop or climbing grades.
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The Mirai has
We don’t score this one. The Mirai lists 114.9 in and the Legacy 108.3 in, and the better choice depends on your needs. A longer wheelbase often means more cabin space and a smoother ride on the highway.
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The Legacy has available all-wheel drive
Not every buyer will care, but the Legacy gives you available all-wheel drive and the Mirai doesn’t. All-wheel drive helps you get going on slippery roads, but good tires matter just as much for stopping and turning.
Design & Size
By the manufacturer’s measurements, the Legacy is the more compact car, and the Mirai the larger one.
Dimensions
| Spec | Legacy | Mirai |
|---|---|---|
| Length | 190.6 in | 195.8 in |
| Width (no mirrors) | 72.4 in | 74.2 in |
| Height | N/A (not specified) | 57.9 in |
| Wheelbase | 108.3 in | 114.9 in |
Engine & Performance
Mirai leads
If engine & performance is high on your list, the Mirai makes the stronger case by a wide margin. The Mirai makes its case with 45 lb-ft more torque. The Mirai’s extra torque makes it more relaxed when fully loaded or towing. Weighing only engine & performance, the Mirai comes out ahead.
Torque
Legacy: 176 lb-ft Mirai: 221 lb-ft Electrified powertrains deliver torque instantly, so compare torque figures alongside the powertrain type.
Space & Practicality
Legacy leads
The Mirai has a tough time in the space & practicality section, where the Legacy pulls well ahead. On the Legacy, you get 57% more cargo space. Cargo space behind the rear seats is what you use every day for groceries, strollers and luggage. Net result: the Legacy leads this part of the comparison.
Cargo (behind rear seats)
Legacy: 15.1 cu ft Mirai: 9.6 cu ft The Legacy’s larger cargo area makes family trips and big shopping runs easier.
Off-road & Towing
Legacy leads
This area is close, with the Legacy just ahead of the Mirai. The Legacy delivers available all-wheel drive. The Legacy offers all-wheel drive; the Mirai doesn’t, which matters if you face harsh winters. In short, the Legacy is the better-equipped car for off-road & towing.
AWD / 4WD available
Legacy: yes Mirai: no Available all-wheel drive improves traction in rain, snow and on loose surfaces.
Safety & Tech
The safety & tech data here comes as names and types, not scores. Check the table to see what each one uses.
Full Specifications
Engine & Performance
| Spec | Legacy | Mirai |
|---|---|---|
| Powertrain | Gas | Hydrogen fuel cell |
| Engine | 2.5L flat-4 | Fuel cell stack + electric motor (134 kW) |
| Total system output | 182 hp | 182 hp |
| Torque | 176 lb-ft Least torque in class | 221 lb-ft (winner) Most torque in class |
| Transmission | CVT | Single-speed |
| Drivetrain | AWD | RWD |
Fuel Economy & Range
| Spec | Legacy | Mirai |
|---|---|---|
| Fuel economy (combined)EPA estimate where available | 30 mpg | N/A (not specified) |
| Fuel economy (city) | 27 mpg | N/A (not specified) |
| Fuel economy (highway) | 35 mpg Thirstiest on the highway | N/A (not specified) |
Space & Practicality
| Spec | Legacy | Mirai |
|---|---|---|
| Seats | 5 seats | 5 seats |
| Cargo (behind rear seats) | 15.1 cu ft (winner) | 9.6 cu ft Smallest cargo area |
Off-road & Towing
| Spec | Legacy | Mirai |
|---|---|---|
| AWD / 4WD available | Yes (winner) | No |
Safety & Tech
| Spec | Legacy | Mirai |
|---|---|---|
| Largest touchscreen | N/A (not specified) | 12.3 in |
| Driver-assist suite | Subaru EyeSight | N/A (not specified) |
| Basic warranty | 3 yr / 36,000 mi | 3 yr / 36,000 mi |
Dimensions
| Spec | Legacy | Mirai |
|---|---|---|
| Length | 190.6 in | 195.8 in |
| Width (no mirrors) | 72.4 in | 74.2 in |
| Height | N/A (not specified) | 57.9 in |
| Wheelbase | 108.3 in | 114.9 in |
Price
| Spec | Legacy | Mirai |
|---|---|---|
| Starting MSRP | N/A (not specified) | $51,795 Priciest in class |
“N/A” means the manufacturer does not specify the value or we could not confirm it. Figures marked “manufacturer rating” are the maker’s own claims, not our measurements.
Which One Should You Buy?
Choose the Legacy if…
- you haul strollers, luggage or sports gear every week (15.1 cu ft vs 9.6 cu ft)
- you want all-wheel drive available
- you value compactness over sheer size
Choose the Mirai if…
- you often drive loaded up or with a trailer (221 lb-ft vs 176 lb-ft of torque)
- you prefer a larger car and have the room for it
- you trust Toyota and want to keep things familiar
Also Compared
Frequently Asked Questions
Should I buy the Legacy or the Mirai?
The Legacy wins more of the areas we compared, so it’s the safer pick unless you need 45 lb-ft more torque, which only the Mirai offers.
Which is larger, the Legacy or the Mirai?
The Mirai is the larger of the two. It measures 195.8 × 74.2 × 57.9 in, compared with 190.6 × 72.4 in for the Legacy.
Executive Summary
The Legacy and the Mirai come from rival camps, Subaru and Toyota, but they’re chasing the same person: you. What tips it for me is that the Legacy has 57% more cargo space. And if that weren’t enough, the Legacy has available all-wheel drive. I don’t want to sell the Mirai short, though: it has 45 lb-ft more torque.
If your days lean on space & practicality, I’d pick the Legacy; if they lean on engine & performance, the Mirai.
My pick: the Legacy is the one I’d buy, unless what you want most is 45 lb-ft more torque.
Personal opinion based on the data above. Your priorities may differ.