Yes, we LOVE this vehicle. Its used hard in the fact it tows alot and Im not afraid to pull up to the 3500lb rating, which it does just fine. It does everything acceptably. Its on ongoing joke between my wife and I, we always say we just need 5 more years out of it lol. We liked many features of the second gen sienna over the third gen. I would consider a 3rd gen with 6 speed trans though.
Very disappointed with the 2021 Sienna, not a good fit for us, Not planning on replacing ours any time soon anyway unless something unforseen happens to it (Wreck, Theft, Fire...ect)
I keep my eyes open for a third gen that is low miles and a decent price and clean and have not found anything that I couldn't pass up yet.