The 2002 Toyota Highlander is available as a 4-door, 5-seat sport utility. Starting at $23,880, the 2002 Toyota Highlander Base FWD is powered by a 2.4L , 4 -cylinder engine mated to an automatic transmission that returns an EPA estimated 22-mpg in the city and 27-mpg on the highway. The top of the line 2002ToyotaHighlanderLimited V6 AWD , priced at $ 30,795 , is powered by a 3.0L , 6 - cylinder engine mated to an automatic transmission that returns an EPA estimated 18-mpg in the city and 22-mpg on the highway.