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I'm not thinking of buying in near-new condition, but would like to see it brought back so that when the car I have needs replacing there'll be a car like this available that's new enough / low enough mileage.

It's indeed a pretty brilliant design ; it's not as good as the Multipla (have had two) in some key respects (latter has better side visibility, better exterior mirrors for parking, better seating positions, especially for longer leg drivers, and its throttle position is more comfortable) but is of immeasurably better quality, the Multipla requiring - for example - frequent front-suspension triangle replacement, they suffer from bi-mass flywheel issues etc and the general reliability is poor. The only downside of the 2.2 Diesel is it's very thirsty. Over here (France) you can still get circa 100.000 km FR-V's for around 6-7k€

I loved loved both of mine. It's a great design.