That's what I like about this forum. There are people here towing with Siennas and have no trouble and then there's the consensus that towing one with a Chrysler mini van is not a good idea for other reasons. There is a lot hair splitting going on as the devil is in the details. Every answer has a "but".
I'm towing with a 180hp short wheelbase truck with 33" tall offroad tires, 3.5" lift, missing rear sway bar and no WDH. I'm breaking a bunch of rules though it does have a 5000lb rating. I'm able to do that safely (I hope) because of several "buts". The key is knowing the limits for each setup and as others have said, where you are towing too. General guidelines just don't always work; which is why it's good to get everyone's input here.
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