Used 2021 Subaru Legacy for Sale nearOrlando, FL

How much does the 2021 Subaru Legacy cost?

Prices have softened 10.08% compared to this time last year, making it a favorable time to shop this model year.

There are 542 listings available, which gives you a meaningful pool to compare trims and condition.

Is the 2021 Subaru Legacy a good car?

Yes — it earns a 5/5 user rating and an 8.3/10 expert rating. The model scores 9/10 across Cost effectiveness and Safety.

The 2021 Legacy stands out because standard all-wheel drive is part of its appeal, and the source says no other vehicle in its class offers that as standard equipment. It also brings comfortable seats and standard advanced safety features, which makes it a practical fit if you want traction and everyday usability more than flash.

The trade-offs are clear: styling is uninspired, performance is sluggish, and the interior materials feel cheap. That means you should expect a comfort-and-confidence sedan rather than something that feels especially polished or quick.

With 35.1% of listings priced as good or great deals, you have some room to shop selectively.

Is the 2021 Subaru Legacy reliable?

Owners rate it 5/5, a strong signal of long-term satisfaction.

The Legacy is described as a practical midsize sedan with standard all-wheel drive, fuel-efficient engines, and easy-to-use interiors. The expert summary also points to strong safety and value, which supports the idea that this model year is built around dependable everyday use rather than novelty.

The performance notes say the base engine gets drivers around town just fine, and the car’s all-wheel-drive system helps keep it planted over rough terrain and bumps. The cost-effectiveness notes also frame it as attractive for buyers who want AWD, fuel efficiency, safety features, and a low starting MSRP.

For used buyers, the main long-term ownership risk is that the same traits that make it practical can also come with a less refined feel, so condition and maintenance history matter.

What should I look for when buying a used 2021 Subaru Legacy?

Accident-free inventory is solid at 75.5% — always verify the vehicle history report.

You should still check the vehicle history report carefully and prioritize a pre-purchase inspection, especially if you’re considering a higher-mileage example. Focus on overall condition, interior wear, and whether the car’s safety and driver-assist features work as expected.

Key things to evaluate:

• Trim level: The 2021 Legacy is available in six trim levels: Base, Premium, Sport, Limited, Limited XT, and Touring XT. The base model starts with dual 7-inch displays, while Premium and higher trims get an 11.6-inch infotainment screen and more available equipment, so lower trims miss some of the nicer cabin tech.
• Powertrain: The Base, Premium, Sport, and Limited use a 2.5-liter four-cylinder with 182 horsepower and 176 pound-feet of torque, while the Limited XT and Touring XT upgrade to a turbocharged 2.4-liter engine with 260 hp and 277 lb-ft. The base engine is efficient, and the turbo is the better pick if you want stronger passing and highway merging.
• Safety package: Subaru EyeSight is standard and includes adaptive cruise control with lane centering, pre-collision automatic emergency braking and throttle management, and vehicle lane departure and sway warning. EyeSight Assist Monitor is also included, while reverse automatic braking and blind-spot monitoring are available add-ons.
• Infotainment: Base models use dual 7-inch displays, while Premium and above get an 11.6-inch screen. Apple CarPlay and Android Auto are standard, and higher trims add features such as navigation, Subaru Starlink Connected Services, a Harman Kardon premium audio system, and more USB ports.
• Fuel efficiency: The 2.5-liter engine returns 27 mpg in the city, 35 mpg on the highway, and 30 mpg combined. The turbocharged engine earns 24 mpg in the city, 32 mpg on the highway, and 27 mpg combined.

Which 2021 Subaru Legacy trim should I buy?

The 2021 Subaru Legacy is offered in 6 trim levels: Base, Premium, Sport, Limited, Limited XT, and Touring XT.

Here's the short version:

• Base: This is the entry point if you want the lowest-cost way into standard all-wheel drive, standard Apple CarPlay and Android Auto, and the Legacy’s core safety tech. It makes sense if you care most about value and can live without the larger screen and extra convenience features.
• Premium: This is the best-value trim for many shoppers because it adds the 11.6-inch infotainment screen and a more complete feature set without jumping into the pricier turbo models. If you want the strongest balance of equipment and price, this is the one to focus on.
• Sport: Choose this if you want a little more visual flair and available wheel upgrades, but still want the Legacy’s practical strengths. It’s a good fit if you care about appearance and everyday usability more than outright performance.
• Limited: This trim is the better pick if you want a more upscale feel, with more available comfort and convenience equipment. It suits you if you want the Legacy to feel a bit more premium without moving to the turbocharged XT models.
• Limited XT: This is the right choice if you want the stronger turbocharged engine and a more confident highway driving experience. It’s the better option for buyers who regularly merge, pass, or drive in hilly areas.
• Touring XT: This is the top choice if you want the most power and the fullest equipment list in the lineup. It makes sense if you want the Legacy at its most fully equipped and don’t mind paying for it.

Subaru EyeSight is standard across the lineup, and buyers can add reverse automatic braking and blind-spot monitoring.

Is now a good time to buy a used 2021 Subaru Legacy?

This is a moderate market for selective buyers, so it pays to compare listings carefully and move quickly on strong examples.

• Deal availability: 35.1% of listings are priced as good or great deals.
• Inventory: There are 542 listings available.
• Price trend: Prices have softened 10.08% compared with last year.
• Clean inventory: 75.5% of listings are accident-free.

If you find a listing below $18,710, that's toward the low end of the year-round range and worth acting on quickly.

What is the 2021 Subaru Legacy's resale value?

The current average of $18,710 sits slightly below last year's $20,807.

That price movement suggests the market has softened, which can help you as a buyer now but may limit upside if you plan to resell soon. If you buy at a strong price and keep the car in good condition, you can reduce the impact of that depreciation.

The Legacy’s practical appeal, standard all-wheel drive, and strong safety reputation should help it stay relevant with shoppers who value those traits. Still, the current trend shows you should expect resale value to be shaped more by condition and pricing than by scarcity alone.

Vehicles with strong owner satisfaction ratings, like this model year's 5/5, tend to retain buyer demand, which supports resale value over time.

Is the 2021 Subaru Legacy safe?

The 2021 Legacy earned the top scores in every category from the Insurance Institute for Highway Safety (IIHS), including crashworthiness, crash-avoidance tech, and LATCH system ease of use. The 2021 Legacy was also named a Top Safety Pick by the IIHS. The National Highway Traffic Administration (NHTSA) gave the Legacy a five-star overall rating.

It earns a 9/10 safety score from our experts.

Subaru EyeSight comes standard and includes adaptive cruise control with lane centering, pre-collision automatic emergency braking and throttle management, and vehicle lane departure and sway warning. EyeSight Assist Monitor is also included, and buyers can add reverse automatic braking and blind-spot monitoring.

One caveat is that the EyeSight system can be annoying because of frequent beeps and chimes, and the seat-belt monitoring system is very sensitive and loud.

Should I buy a 2021 Subaru Legacy or consider a different year?

If you're weighing the 2021 against nearby model years, here's how to think about it:

Choose the 2021 if:

• 35.1% of listings are priced as good or great deals.
• Accident-free inventory is solid at 75.5% — always verify the vehicle history report.
• Price trend: Prices have softened 10.08% compared with last year.
• Owners rate it 5/5 — a strong satisfaction signal.
• The 2021 model year stands out for standard all-wheel drive, strong safety, and fuel efficiency.

Consider the 2020 if:

• At $17,200, the 2020 costs less than the current year's $18,710 average.
• It emphasizes everyday usefulness with standard AWD, fuel-efficient engines, and an easy-to-use interior.

The bottom line: If you want the stronger current-year market mix of price, inventory, and accident-free listings, the 2021 is the better target. If your priority is spending less up front, the 2020 is the more budget-friendly path and still delivers the Legacy’s core strengths.

How does the 2021 Subaru Legacy compare to the 2021 Toyota Camry?

Expert Pros & Cons (per CarGurus review team)

2021 Subaru Legacy:

• Pros: Standard all-wheel drive, Comfortable, Standard advanced safety features.
• Cons: Uninspired styling, Sluggish performance, Interior materials feel cheap.

2021 Toyota Camry:

• Pros: Comfortable, Spacious, TRD trim adds extra performance and style.
• Cons: Outdated technology, Underwhelming base engine.

Our experts score the 2021 Subaru Legacy 8.3/10 and the 2021 Toyota Camry 7.8/10. The Legacy is the better pick if you want standard all-wheel drive and standard safety features, while the Camry leans more toward space and a stronger base engine. The Camry also has a higher starting MSRP and a larger used-market inventory, but the Legacy’s lower average used price and better accident-free share make it appealing if you want value and traction.

Read our full side-by-side expert comparison here.

These recommendations are based on CarGurus' proprietary market data from November 10, 2026, CarGurus experts' opinions, and generative AI.