Question: The AR engine family is a straight-4 piston engine series by Toyota, first introduced in 2008 for the RAV4, and subsequently for the Toyota Venza is a front-engine, front- or all wheel-drive mid-size five-passenger crossover SUV manufactured and marketed by Toyota in North America, and unveiled at the 2008 of which event in Detroit?
Sentence (from "Toyota AR engine"): The AR engine family is a straight-4 piston engine series by Toyota, first introduced in 2008 for the RAV4, and subsequently for the Highlander, Venza, Camry and Scion tC.
Relevant evidence: Yes