The first TownAce (R10 series) made its sales debut in October 1976 as a widened and lengthened version of the LiteAce (M10), still using the same doors and some other panels. In the Toyota model hierarchy, TownAce occupied the position in between the LiteAce and HiAce. At first three- or six-seater vans were offered, the more popular TR10 receiving the 1588 cc "2T-J" engine (), although the smallest KR10 has the 1166 cc "3K-J" (). Eight-seater wagons have the desmogged "12T" engine rather than the "2T-J" (TR11G chassis code rather than TR10V), and therefore lower power at . The second and third rows of seating could be laid fully flat, and the third-row seats could be folded to expand the luggage compartment. The "4K-J" motor with replaced the "3K-J" in February 1978. That October, the wagon engine was uprated to the 1770 cc "13T-U" (TR15), and high-roof models with heights of were introduced. Further changes in October 1978 included suspension revisions, the release of the flagship "Custom Extra" grade with manual sunroof. October 1979 changes adjusted the trim surrounding the headlamps, introduced a revised dashboard, and resulted in the "Custom Extra" being renamed "Super Extra".