From Toyota Wiki
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The Toyota RSC ("Rugged Sport Coupe") was a Toyota concept car that was never produced for consumer sales. It was designed as a 2-door SUV that would have competed with the Japan Domestic Market (JDM) Mitsubishi Pajero 2-door. The concept featured many radical design cues and had plenty of ground clearance, and was probably intended as an idea for the Paris-Dakar Rally. However, it never saw production.
A road version and a Rally Raid version in Toyota rally colors (suggesting the possible competitive nature of the car) have appeared in Gran Turismo 4.