The Subaru Legacy was a series of mid-size cars introduced for the 1990 model year. When it was introduced, the Legacy was the first upmarket model, and since its creation has been Subaru's flagship. The Legacy, which was sold as the Liberty in Australia, has always been offered as an all wheel drive model, and has always featured a boxer engine. The offroad focused Subaru Outback was based on the Legacy. Production of the Legacy has seen seven generations: 1st Gen (1990-1993), 2nd Gen (1994-1999), 3rd Gen (1999-2004), 4th Gen (2004-2009), 5th Gen (2010-2014), 6th Gen (2015-2019), and 7th Gen (2020-present).