Rock Auto has Advics rotors for the front of your Sienna. Advics is the OE supplier for the rotors, and they are US-made, too. Bur tight now, they only have one in stock. However, Advics front and rear rotors are available on eBay right now.
If you don't want to spend the money for Advics rotors, at least get rotors that are coated (the Advics rotors are coated). Wagner's coated rotors are very good, and Centric Premium is also a good choice. Power Stop also offers coated rotors for your car. Non-coated rotors rust overnight.
For the pads, get Akebono, Advics, Wagner OEX, EBC Ultimax, or the Brembo pads Rock Auto has for the Swagger Wagon.
Another good choice would be EBC Ultimax "Blackstuff" pads along with EBC's plain rotors. Autoanything has the best price on EBC parts, and they will even give you a price adjustment if they lower the price after you buy it, even up to a year after
The Power Stop coated rotors and Brembo pads end up being about $200 after shipping and the Rockauto promo code (they always have a 5% off code available). With the Wagner OEX pads, it's about $30 less.
Also, drilled rotors are bad. Especially cheap ones. The only drilled rotors worth buying are some OEM rotors from Porsche and BMW, and the DBA aftermarket rotors. All are really expensive (well over $100 per rotor, sometimes $200+). I know your Sienna is a swagger wagon, but still, don't use drilled rotors! (Rock Auto does have a 4-wheel pad and rotor kit with the Powerstop coated rotors)