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The recall affects certain 2009 and 2010  Toyota  Corolla and Corolla Matrix and 2008 and 2009  Scion  xD vehicles equipped with 1.8 liter engines .
 subsidiaries: Toyota, Scion
Given a phrase that describes the relationship between two words, extract the words and the lexical relationship between them. The output format should be "relation1: word1, word2; relation2: word3, word4". 
Option: cities of residence, top members employees, members, alternate names, origin, state or provinces of residence, title of person, spouse, city of headquarters, NA, founded by, state or province of headquarters, employee of, countries of residence, country of birth, founded, subsidiaries, country of headquarters 
Text: {0} 
Answer:
 subsidiaries: Toyota, Scion