For Estima ACR50 based on experience:-

The Good:

1) More stable than Vellfire/Alphard (2008-2014) on Highway.
2) Nicer to drive on highway as compared with VF or Alphard  (2008-2014)
3) 3rd seats row can be folded down below Floor Space Saving. Previous ACR30 is fixed .
4) Plenty of spare parts available and reasonably priced.
5) Maintenance is similar to toyota Camry pricing. Usually Engine Oil, Filter, etc

The Bad:

1) 2 Airbags Only.
2) Steering Rack . If change new Toyota Original may set u back approx RM1800. Half Cut RM800. But problems will persist similar to Vellfire 2008-2014. Toyota Harrier similar problem. U can get mechanics to modify the Steering coupling but driving characteristics and turning radius bad.
3) V6 Engine problems with SparkPlugs issues
4) Gearbox for V6 overheats very commonly. Use Hayden Transmission Oil Coolers.  Approx RM700+ . Really cools down the gearbox both 2.4 and 3.5
5) Side Mirror motor needs replacements usually after 5 yrs.
6) Engine oil evaporates quite fast.
7) If you have moonroof, leaking problem very common.
8) 3rd row seats not so comfy coz its not so Cushy to save space for folding down purpose.

Hope this info helps.