Audi A4

The Toyota Camry has gone from a fantastic family sedan to anonymous four-door and now back to its prestigious glory. That's right. The Toyota is once again a truly desirable option in a segment that's still highly competitive. Credit its diverse powertrain platter for its mass appeal. There's a economical four-cylinder, more inexpensive hybrid option, and a strong V-6. Those who prefer a stylish family sedan, with driver assists and popular features galore will love this vehicle.

Toyota only makes small changes to the 2021 Camry lineup. Inside, there's new tablet-like touchscreens that measure either 7.0 or 9.0 inches. The sporty XSE model is now available with the hybrid powertrain, and the luxurious XLE gets new leather upholstery. Every Camry receives enhanced driver assists, including technology that better recognizes bicyclists and pedestrians.

The spiciest Camry of the bunch is the tuned-up TRD model. It's available with the 301-hp V-6 and eight-speed automatic. It has a racier body kit—complete with a discrete rear spoiler and a pair of prominent exhaust tips—the sedan sports a retuned suspension that's 0.6 inches lower than on the regular models. It has larger front brake rotors and black 18-inch rims that can be had with allseason or summer tires. The Camry TRD is engaging to drive.

The standard four-cylinder engine pairs with a eight-speed automatic; a less powerful version of that engine works with a battery and two electric motors to power the Camry hybrid. The Camry is a controlled ride with responsive handling. The steering is pleasantly weighted and feels substantial cornering and maneuvering in tight spaces. The most efficient nonhybrid Camry models are the LE and SE with the four-cylinder engine, which earned EPA estimates of 28 mpg city and 39 mpg highway; the base LE hybrid earned ratings of 51 mpg city and 53 mpg highway. A four-cylinder Camry SE returned 45 mpg in our highway test, beating its own EPA rating by 6 mpg—and making it the most economical nonhybrid car we've ever tested.

The Camry interior, comfort, and cargo in the XLE and the SE trim are both spacious and comfortable, and the XLE is downright luxurious. The Camry is a large sedan, and there's plenty of cargo space and interior storage in both its trunk and in its cabin with the rear seat folded. Toyota relocated the Camry hybrid's battery from the trunk to beneath the rear seats, so hybrid owners don't have to sacrifice carrying capacity for the extra mpg.

Toyota's touchscreen infotainment system—called Entune 3.0—is standard across the Camry lineup, with an enhanced version available as an option. Entune has loads of features and responded reasonably well to user inputs in our tests, and Apple CarPlay and Android Auto compatibility are standard.

The 2021 Camry earned a five-star safety rating from the National Highway Traffic Safety Administration (NHTSA) and a Top Safety Pick+ award from the Insurance Institute for Highway Safety (IIHS). Women applaud Toyota's decision to make driver-assistance technology standard across its lineup.

2021 BMW / M550i - $54,200. - $76,800.

The 2021 BMW 550i offers quiet luxury and handsome styling. The 2021 BMW 5-series sedan could very well be the answer. Its spacious and plush cabin is a pleasant place to spend your commute, and BMW offers a host of powertrain options to suit your needs, be they fuel efficiency or roaring V-8 performance. A facelift for 2021 brings sharper exterior styling that gives the 5series an even more upscale appearance, and several tech upgrades should keep it in the fight against key rivals such as the Audi A6, the Genesis G80, and the Mercedes-Benz E-class.

The mid-range 540i continues to be the best value in the 5-series lineup, offering a nice balance of performance and comfort. This model comes standard with rear-wheel drive, but all-wheel drive is available. The available Convenience package seems like a wise add-on, as it includes heated front seats, a power-operated trunk lid, and remote start. To unlock the 5-series's advanced semi-autonomous driving tech, go for the Driving Assistance Plus package.

Smooth, powerful, and efficient, both the four-cylinder in the 530i and the six-cylinder in the 540i motivate this big sedan with authority. For 2021, the 540i's powertrain gains a little extra boost, care of a 48-volt hybrid system, which we have not yet tested. Each pairs with an eight-speed automatic transmission that shifts intuitively and quickly, making the most of the available power. The 540i's six-cylinder is silky smooth and potent, and it makes delightful noises. Apart from the top-dog M5, which we review separately, the M550i is the athlete of the lineup, with a twin-turbocharged 4.4-liter V-8 under its hood. In our testing, the M550i sprinted through our acceleration runs quicker than the Audi S6 and Mercedes-AMG E53, hitting 60 mph in just 4.1 seconds. All 5-series models are competent handlers, but they lack the kind of driving verve we expect from BMW. Steering feedback is light, and the ride—even in the performance-oriented M550i—appears to be tuned more for comfort than pure driving pleasure.

The EPA estimates the four-cylinder 530i will earn up to 25 mpg in the city and 33 mpg on the highway. The six-cylinder 540i is rated at up to 25 mpg city and 32 highway. The more powerful V-8 M550i lowers those to 17 mpg city and 25 highway. All three of the models we tested overachieved in our real-world testing; the 530e delivered 34 mpg while the 540i and M550i did 31 mpg and 28 mpg, respectively. For more information about the 5-series's fuel economy, visit the EPA's website.

Rich appointments and good design make the cockpit of the 5-series a civilized space. It's a noticeable upgrade compared with the somewhat drab cabin of its predecessor. It's also spacious for rear-seat passengers and features an impressive amount of technology. We've experienced the optional 20-way multi-contour front seats, which adjust in every way imaginable and provide hours of comfort. The standard seats might not be as indulgent, but you can still adjust them in 16 ways. The BMW's large trunk space is on par with what its competitors offer, fitting six carry-on suitcases back there. That said, the cabin is lacking in cubbies and storage compartments. To accommodate the battery pack, the plug-in-hybrid 530e has four less cubic feet of trunk space than nonhybrid models and swallow two fewer carry-on suitcases, but at least it retains its folding rear seats, unlike many other hybrids.