To expand on my previous response ...
The Sidekick/Vitara/Grand Vitara line can be divided into roughly three generations, first gen is roughly 89~98 (the actual years vary depending on what market you're in), and were known as Sidekicks & Vitaras (again depending on the market), the "Grand" prefix came with the second gens (98/99~05), and was also used on the third gens (05/06~), so the second gen is actually the first generation of Grand Vitaras.
The first & second gen vehicles are very similar, third gens have significant changes.
The first & second gen vehicles are "body-on-frame" light trucks, with a fully boxed frame, third gens are unibody or monocoque construction, first & second gen have live rear axles and independent front suspension, third gen are independent front & rear, first & second gen are part time four wheel drive, third gen are full time four wheel drive, aka all wheel drive.
Forced to respond to shifting market demands, each successive generation has seen a shift away from off-road capability towards on-road comfort - the suspension on the third gens is better suited to a front wheel drive sedan than it is a four wheel drive, and the one thing that stops me from calling the third gen a "soft roader" is the fact that it is still available with a two speed transfer case.