I'm using an '06 Sienna in the midwest (read, no hills) without any issues at all. Tows nicely for me.
I fully intend to get on a scale this summer, and I'll report back once I have some weights to go by. There are Sienna-specific forums out there that have sections on pulling a trailer; interestingly enough there was one person in the past who pulled a TM 2720SL. He did so for a long, long time, and had many positive things to say about the combination. It's part of the reason I feel comfortable doing so.
Obviously, it's different for each person...
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2009.5 2720SL
2006 Toyota Sienna
2018 Audi Q7
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