Has the OP said what he’ll be towing? a pop-up is much easier than a hard shell due to frontal area.... totally different beasts. I pulled a pop up with the infamous Chrysler 41TE and the long wheelbase minivan was a great tow vehicle. The popup was 2500 lbs, plus gear, and in the van there were 4 of us. I had no auxiliary cooler on the transmission and we pulled in northern Virginia and some West Virginia, so it saw hills. It simply didn’t give us any trouble. I’d work the engine some but also stayed within reason. At 60,000 miles I changed the atf+4 and it was clean, cherry red. i towed in D3, not OD.
the only solid advice I would offer is to NOT tow in an overdriven gear. The driven gear in OD is a smaller gear and will create a lot of heat. In a smaller transmission, letting the engine rev without forcing smaller OD gears to handle that kind of pressure helps keep the temps down significantly. I experienced this with our tundra as well - installed a mechanical temp gauge and the trans generated more heat in OD. the sienna is such a quiet machine, the higher revs shouldn’t be a nuisance with drone, and keeping a lower gear will reduce the shifting under load.
pay attention to your weights and consider a weight distributing hitch, especially if the front end gets light under firm braking. I try to avoid airbags with a properly adjusted WDH. Take your time setting it up, and don’t out-drive the chassis, especially if the trailer doesn’t have brakes.
happy camping!!
m