There are lots of us with good experiences. Here's a good thread on the Sienna in the "Towing Rigs" forum, and you can use the "search" feature to find more.
http://www.trailmanorowners.com/foru...ead.php?t=6995
and another one:
http://www.trailmanorowners.com/foru...ead.php?t=7582
You don't mention where you're from or where you're planning to go. Substantially more than the rest of us, folks out West tend to do more dry camping, go up to higher elevations in the mountains, and bring along their heavy hobbies. For that, a lot of people think you should have a bigger tow vehicle.
Join the forum!