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Tada is not lying because he is not claiming the opposite of Masuda.
He says they have worked together (which I believe to be true to an extent) while Masuda credits Subaru for platform and drivetrain development, specifically.
Subaru in Toyota's shadow?
When it comes to performance vehicles in the US Toyota has been in one of the darkest corners. Quite a shame to see the biggest auto maker without a single true performance car since the '05 MRS, and before that the Supra in '98.
Subaru has nothing to be insecure about.
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