Maybe it's not a fair comparison, but I rented a 4 cylinder Camry earlier in the year for about a week and I just got done driving a Ford Fusion while my other car was getting fixed. The Fusion was 3 or 4 years old and was a plain Jane model with few options and a 4 cylinder engine. The sizes seemed similar however I think the Fusion trunk was quite a bit bigger.

Toyota won hands down. Much quieter engine with better get up and go and geared much better. The Fusion was okay once you got up to top speed, but what a loud engine when accelerating! Seem underpowered relative to the Toyota. Wind noise also seemed to be greater in the Ford(that surprised me a bit as my Taurus is extremely quiet on the road).

Both got really good mileage.