Yes, we tow a 2009 Trail Manor 2619 with our 2004 Sienna Van AWD. It tows fine. We use a load distribution hitch which I would recommend be used. I have added a transmission cooler to the Sienna and I also have a temperature gauge installed for the sump on the transmission. I don't tow above 65 mph. but on level roads I can leave the transmission in D.
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