The new Al/Vell is out, so we can expect these to start popping up in Asian works in the coming years (most notably from J, HK, and T). I remember rumors floating around circa 2020 of the Vellfire being merged in to a grade of the Alphard. but I guess Toyota just decided to keep the two models separate given the different target audience. The Lexus version is apparently coming out this fall, too; this time with a JDM release.

https://global.toyota/en/newsroom/toyota/39287317.html

https://lexus.jp/models/lm/worldpremiere/