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You are really kind of comparing apples to oranges here. The Highlander is a Camry on steroids and nothing more, as it is built on the same uni-body frame as the Camry is. With it, you get a comfy, quite ride but with a higher seating position than a Camry sedan. The Tundra is a truck, with a full truck frame & suspension, so the ride is no where near as refined, nor is it intended to be. As for mileage, the smaller V-6 of the Highlander will win by a few MPG. As for snow, both will pull adequately in the snow as is, or you can add some extra weight to the truck bed for even better traction.
If you need a truck, get the Tundra, but if you need a car but like the higher visability of an SUV, get the Highlander.
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